CN103085955B - Sea turtle four-fin flapping imitating type autonomous underwater robot - Google Patents
Sea turtle four-fin flapping imitating type autonomous underwater robot Download PDFInfo
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- CN103085955B CN103085955B CN201310020130.7A CN201310020130A CN103085955B CN 103085955 B CN103085955 B CN 103085955B CN 201310020130 A CN201310020130 A CN 201310020130A CN 103085955 B CN103085955 B CN 103085955B
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Abstract
The invention discloses a sea turtle four-fin flapping imitating type autonomous underwater robot which comprises a body part, a head part and a tail part. The front side and the back side of the body part are connected with moving fins through fin limbs. Each flapping fin is driven and controlled independently. The head part and the tail part are respectively arranged in front of and behind the body part. Full-view fisheye lenses for acquiring front images and upper images are respectively arranged in the head part and on the body part. A height measuring sonar for acquiring height and a pressure sensor for acquiring depth are arranged in the head part. A global position system (GPS) antenna for locating is arranged in the tail part, and accordingly water area conditions in front and on the upper portion can be monitored in real time, height data between the robot and the seabed can be measured in real time, and obstacle conditions and the like in front can be monitored. The underwater robot is further provided with an attitude and heading reference system (AHRS), self attitude can be sensed in real time, active control of attitude and heading can be achieved, and the underwater robot has the advantages that a driving mode of sea turtle four-fin flapping imitating pushing is used, maneuverability is good, noise is low, structure is simple, and implementation is simple.
Description
Technical field
The present invention relates to a kind of imitative green turtle four fin to flap formula autonomous underwater robot, belong to under-water robot technical field.
Background technology
Along with the exhaustion day by day of land resource, ocean obtains the source of the resources such as mineral products, the energy, food by becoming the mankind.But the exploitation of marine resources needs the support of a series of technology and equipment, under-water robot explores the powerful of ocean as the mankind, the depth under water that cannot be able to arrive the mankind and range carry out detecting, identifying and operation, and therefore under-water robot has broad application prospects in marine petroleum development, mineral reserve investigation, the under water field such as fault detection, fishing operation.
The propulsion mode of under-water robot is generally propeller type and bionical fin two kinds.Screw propeller propelling is a ripe traditional underwater propulsion technology, thus apply the most general, but it advances the raising of usefulness to be difficult to make a breakthrough, there is scantling of structure and weight is large, large to environmental perturbation, noise is large, poor reliability, the shortcoming such as to start, acceleration capability difference and kinematic dexterity can differ from.Propeller energy utilization rate is low, and under-water robot can not carry the too many energy due to the restriction of acceptor sum load-carrying capacity, can only stop under water the short time, and scope of work is little, which limits their application.This just makes researcher have to find other type of drive, to adapt to following under-water robot Technical Development Requirement.
Aquatic organism have been evolved out outstanding underwater exercise ability through the natural selection of 1 years, in order to absorb bait, escape the living necessities such as harmful animal, reproduction procreation and cluster activity, by very long natural selection, they have possessed the motor-driven water middle reaches kinetic force of high efficiency, low energy consumption, low noise and height gradually.Aquatic organism moves about ability far away higher than the navigation state-of-art that the mankind are present.Can say, in order to the aquatic organism that needs conformed and survive, fully development and improvement is in hydrogymnastic various respective capabilities, and its kinematics parameters has reached or close to optimum assembly.Bionic flapping fin underwater propeller has following features compared with traditional propeller propelling unit: (1) energy utilization rate is high.Preliminary test shows to adopt bionic flapping fin underwater propelling unit to improve 30-100% than the conventional efficiency advanced.From a long-term perspective, bionical underwater propeller can save energy greatly, improves energy utilization rate, thus extends the under-water operation time.(2) make fluid property more perfect.Aquatic organism flap fin swing produce wake flow there is progradation, it can be made to produce more desirable flow dynamics.(3) maneuvering performance of sub aqua sport device is improved.Adopt bionic type underwater propeller can improve the starting of sub aqua sport device, acceleration and turning efficiency.(4) noise and protection of the environment can be reduced.Adopt the noise of the noise ratio screw propeller run duration of bionic type propelling unit run duration much lower, not easily found by sonar or identify, be conducive to prominent anti-, there is important military value.(5) achieve the unification of propelling unit and yaw rudder, thrust can be produced and can control again simultaneously and change thrust direction and size, less driver element can be used to produce and have more multifarious thrust.(6) multiple type of drive can be adopted.Can Mechanical Driven be adopted for the imitative fin propelling unit being applied to the aspect such as boats and ships, yacht, hydraulic-driven and air pressure also can be adopted to drive, and combination drive mode; For microminiature sub aqua sport device, the multiple driver elements such as marmem, artificial synthesis muscle and piezoceramic can be adopted.In sum, bionical fin advances and has numerous propeller type and advance the advantage do not had.
Current propeller and motor driven systems are difficult to separate, and cause propelling unit function singleness, huge structure, and mechanism is complicated.Bionical fin propelling unit achieves propelling unit and yaw rudder function unites two into one, and can simplify structure and system, simplified manufacturing technique, and reduce costs and cost, be of great immediate significance and practical value.
Summary of the invention
The object of the invention is to solve that traditional propeller efficiency is low, noise is large, thrust direction is single and the problem such as manoevreability is poor, proposing the imitative green turtle four fin flapping locomotion formula autonomous underwater robot of a kind of efficient propelling, flexible and low noise.Comprise body portion, head, afterbody, balance weight mechanism, fin limb, fin of flapping, sensing and carry equipment and control system; Body portion is tubular structure, and front end and rear end seal respectively by head connector and Caudal connectors; Head connector front end is connected with head; Caudal connectors rear end is provided with afterbody; Sensing and carry equipment comprise panorama fish eye lens A, panorama fish eye lens B, survey high sonar, light source and pressure sensor; Control system comprises main control part, navigational portions and power supply, is arranged on body portion inner.
Described head has four cavitys, after front, be followed successively by the first chamber, the second chamber, the 3rd chamber and the 4th chamber; First chamber, the second chamber and the 4th chamber are closed chamber; And the 3rd chamber sidewall upper shed; Wherein, the first chamber front end face is provided with panorama fish eye lens A, camera lens is towards under-water robot front; Be provided with in second chamber and survey high sonar, the end of probe surveying high sonar stretches out the second chamber, below under-water robot; 4th chamber is provided with pressure sensor, and the end of probe of pressure sensor stretches out the 4th chamber, is positioned at the 3rd chamber; Front, body portion is also provided with a panorama fish eye lens B, and lens direction upwards; Described afterbody inside arranges gps antenna.
Both sides, above-mentioned body portion are respectively provided with a set of balance weight mechanism; Described balance weight mechanism is made up of counterweight cylinder, clump weight, leading screw bearing, leading screw, servomotor A and motor cover; Wherein, counterweight cylinder rear and front end is respectively by motor cover and end cap seal; Counterweight cylinder interior forward end and rear end are all provided with leading screw bearing by bearing seat; Be coaxially arranged with leading screw in counterweight cylinder, on leading screw, screw thread is provided with clump weight; The leading screw bearing at inner two ends is coupling with counterweight cylinder respectively at the two ends of leading screw; The output shaft fixed connection of leading screw front end and servomotor A, servomotor A is fixed on motor cover inside, servomotor A has the counterweight actuator of integration.
The head connector both sides of front end, described body portion, and the Caudal connectors both sides of rear end, body portion are also separately installed with a fin limb, totally four; Four fin limb structures are identical, comprise the first sealing flange section, the second sealing flange section, the 3rd sealing flange section, servo motor B, planetary reduction gear and transmission shaft; First sealing flange section, the second sealing flange section, the 3rd sealing flange section are coaxially arranged; First sealing flange intersegmental part is used for installing servo motor B, and the fixed end of the first sealing flange section is used for fixing between fin limb and body portion, and coupling end is connected with the fixed end of the second sealing flange section; Second sealing flange section is used for installing planetary reduction gear, and the coupling end of the second sealing flange section is connected with the fixed end of the 3rd sealing flange section; 3rd sealing flange intersegmental part is used for arranging transmission shaft; Output shaft and the planetary reduction gear of above-mentioned servo motor B are connected, and the output shaft of planetary reduction gear is connected with transmission shaft coupling end, and the free end of transmission shaft is positioned at the free end outside of the 3rd sealing flange section; Each fin limb inner sealing above-mentioned, the free end of the transmission shaft of each fin limb is all provided with a fin of flapping.
It is inner that described control system is installed in body portion, and wherein, main control part comprises control desk and four fin limb actuators; Control desk is used for realizing following function: the control command that control desk sends by accepting ground station, control panorama fish eye lens A, panorama fish eye lens B in sensing and carry equipment to work, realize the acquisition of underwater picture information, and by control desk, graphicinformation is gathered; Control desk controls two counterweight actuators and regulates clump weight position on leading screw, and the center of gravity realizing under-water robot regulates; Control desk controls four fin limb actuators and drives the inner servo motor B work of each fin limb respectively, realizes under-water robot and to flap the motion control of fin; Control desk also gathers the altitude information in the under-water robot distance seabed that the high sonar of the survey in sensing and carry equipment obtains.
Described navigational portions is used for measuring angular rate, acceleration of motion and the under-water robot of under-water robot on x, y, z three axle relative to the motion course in geographic coordinate system; Obtain the gps satellite signal that the hydraulic pressure data that record of pressure sensor and gps antenna receive simultaneously, thus obtain the attitude of under-water robot, speed and location information, be sent to control desk;
The image received letter and the attitude of under-water robot, acceleration/accel, speed and location information together with surveying elevation information, servomotor A and the status information of servo motor B and the information about power of power supply that high sonar records, are sent to surface control station by described control desk.
Described power supply is used for as the work of under-water robot is powered; The information about power of power supply is gathered by control desk.
The invention has the advantages that:
(1) a kind of imitative green turtle four fin of the present invention formula autonomous underwater robot of flapping adopts the type of drive of imitative green turtle four fin flapping locomotion, thrust direction can be controlled neatly, complete the mode of motioies such as advance, retrogressing, roll, rolling, driftage, pivot turn and commutation, floating, dive, urgency are stopped, depthkeeping hovering, realize the motion of 5 degree of freedom; Manoevreability is good, and noise is low, and structure is simple, realizes easily;
(2) imitative green turtle four fin of the present invention's one formula autonomous underwater robot of flapping has AHRS attitude heading reference system, can course angle, the attitude information such as roll angle and rollover angle of autonomous perception self, and by control system, self attitude is independently corrected;
(3) a kind of imitative green turtle four fin of the present invention formula autonomous underwater robot of flapping is equipped with the panorama fish eye lens of high definition, omnibearing observation can be carried out to front and visual angle, 180 degree, top, be provided with below robot head simultaneously and survey high sonar, can measuring distance be highly water-bed and detect water-bed obstacle in real time;
(4) imitative green turtle four fin of the present invention's one formula autonomous underwater robot of flapping has ground station's real-time monitoring system, by data such as CAN communication real time feedback image information, depth information, latitude and longitude information, attitude information, electric quantity of power supply, simultaneously send instruction by ground station again to control its kinematic velocity and attitude and dive dark etc., by controlling the position of the whole under-water robot barycenter of the position control of clump weight on leading screw.
Accompanying drawing explanation
Fig. 1 is under-water robot integral structure schematic perspective view of the present invention;
Fig. 2 is under-water robot integral structure schematic top plan view of the present invention;
Fig. 3 is under-water robot integral structure side view cutaway drawing of the present invention;
Fig. 4 is balance weight mechanism structure side view cutaway drawing in under-water robot of the present invention;
Fig. 5 is fin limb structure cutaway view in under-water robot of the present invention;
Fig. 6 is the mode block diagram of control system in under-water robot of the present invention.
In figure:
1-body portion 2-head 3-afterbody 4-balance weight mechanism
5-fin limb 6-flaps fin 7-sensing and carry equipment 8-control system
101-head connector 102-Caudal connectors 201-first chamber 202-second chamber
203-the 3rd chamber 204-the 4th chamber 301-GPS antenna 401-counterweight cylinder
402-clump weight 403-leading screw bearing 404-leading screw 405-servomotor A
406-motor cover 501-first sealing flange section 502-second sealing flange section 503-the 3rd sealing flange section
504-servo motor B 505-planetary reduction gear 506-transmission shaft 507-Hall element
508-permanent magnet 701-panorama fish eye lens A 702-panorama fish eye lens B 703-surveys high sonar
704-light source 705-pressure sensor 801-main control part 802-navigational portions
803-power supply
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
A kind of imitative green turtle four fin is flapped formula autonomous underwater robot, as shown in Figure 1, Figure 2, Figure 3 shows, comprises body portion 1, head 2, afterbody 3, balance weight mechanism 4, fin limb 5, fin 6 of flapping, sensing and carry equipment 7 and control system 8.Body portion 1 is tubular structure, and front end and rear end seal respectively by head connector 101 and Caudal connectors 102; Head connector 101 front end is connected with mechanical head; Caudal connectors 102 rear end is provided with afterbody 3.Sensing and carry equipment 7 comprise panorama fish eye lens A701, panorama fish eye lens B702, survey high sonar 703, light source 704 and pressure sensor 705, for motion and the detection of auxiliary under-water robot.Under-water robot is undertaken controlling by control system 8 and powers, and control system comprises main control part 801, navigational portions 802 and power supply 803.
Described head 2 has four cavitys, and after front, be followed successively by the first chamber 202, chamber 201, second, the 3rd chamber 203 and the 4th chamber 204, as shown in Figure 3, the first chamber 202, chamber 201, second and the 4th chamber 204 are closed chamber; And the 3rd chamber 203 sidewall upper shed, not airtight, can intake.Wherein, the first chamber 201 front end face is provided with panorama fish eye lens A701, adopts the wide angle cameras of 180 degree, camera lens towards under-water robot front, for observing the water body situation of under-water robot front portion.Be provided with in second chamber 202 and survey high sonar 703, survey high sonar 703 and be fixed on the second inside, chamber 202 by sonar support, the end of probe surveying high sonar 703 stretches out the second chamber 202, below under-water robot, by survey high sonar 703 can Real-time Obtaining under-water robot distance seabed altitude information, prevent because end accident is touched apart from too small in under-water robot and seabed.4th chamber 204 is provided with pressure sensor 705, the end of probe of pressure sensor 705 stretches out the 4th chamber 204, be positioned at the 3rd chamber 203, because the 3rd chamber 203 can intake, therefore pressure sensor 705 measuring junction is by measuring hydraulic pressure data, thus obtains the distance between under-water robot position and sea level.There are two waterproof pressure light intensity light source 704 in front, body portion 1 by light source 704 support installing, adopts high-power LED floodlight, direction of illumination towards under-water robot front, for being that panorama fish eye lens A701 throws light under the darker light in deep-sea.Front, body portion 1 is also provided with a panorama fish eye lens B702 by lens bracket, the same wide angle cameras adopting 180 degree, lens direction upwards, for the water body environment information above Real-time Obtaining under-water robot.Described afterbody 3 is the housing structure of plastic material, and inside is provided with the tabular gps antenna 301 that oad is 39.5mm*49.5mm*16mm; Gps antenna 301 is adhered fixed on the baffle plate parallel with transversal surface of setting in afterbody 3 by 3M double faced adhesive tape.Gps antenna 301 is used for receiving gps satellite signal, realizes the autonomous location of under-water robot in marine environment.
Both sides, above-mentioned body portion 1 are respectively provided with a set of balance weight mechanism 4, two cover balance weight mechanism 4 and are symmetrically set, and are assisted the adjustment of under-water robot center of gravity by balance weight mechanism 4.Described balance weight mechanism 4 is made up of counterweight cylinder 401, clump weight 402, leading screw bearing 403, leading screw 404, servomotor A405 and motor cover 406.As shown in Figure 4, wherein, counterweight cylinder 401 rear and front end is respectively by motor cover and end cap seal; Counterweight cylinder 401 interior forward end and rear end are all provided with leading screw bearing 403 by bearing seat; Be coaxially arranged with leading screw 404 in counterweight cylinder 401, on leading screw 404, screw thread is provided with clump weight 402; The two ends of leading screw 404 are coupling respectively by the leading screw bearing 403 at interference fit and the inner two ends of counterweight cylinder 401.The output shaft fixed connection of leading screw 404 front end and servomotor A405, it is inner that servomotor A405 is fixed on motor cover 406 by electric machine support, servomotor A405 has the counterweight actuator of integration; Rotated by the rotating band movable wire thick stick 404 of servomotor A405 output shaft, make clump weight 402 movable on leading screw 404 thus, realize the position adjustments on leading screw of clump weight 402, thus reach the object of the trim condition changing under-water robot.Above-mentioned balance weight mechanism 4 is fixed on both sides, body portion 1 by the holder installed on body portion 1 two ends head connector 101 with Caudal connectors 102.
Head connector 101 both sides of front end, described body portion 1, and Caudal connectors 102 both sides of rear end, body portion 1 are also separately installed with a fin limb 5, totally four.Four fin limb 5 structures are identical, comprise the first sealing flange section 501, second sealing flange section 502, the 3rd sealing flange section 503, servo motor B 504, planetary reduction gear 505 and transmission shaft 506, as shown in Figure 5, the first sealing flange section 501, second sealing flange section 502, the 3rd sealing flange section 503 are coaxially arranged; The fixed end that first sealing flange section 501 inside is used for installing servo motor B 504, first sealing flange section 501 is used for fixing between fin limb 5 and body portion 1, and coupling end is connected with the fixed end of the second sealing flange section 502; The coupling end that second sealing flange section 502 is used for installing planetary reduction gear 505, second sealing flange section 502 is connected with the fixed end of the 3rd sealing flange section 503; 3rd sealing flange section 503 inside is used for arranging transmission shaft 506; Above-mentioned servo motor B 504 is drag cup DC brush servomotor, output shaft and the planetary reduction gear 505 of servo motor B 504 are connected, the output shaft of planetary reduction gear 505 is connected with transmission shaft 506 coupling end, the free end of transmission shaft 506 is positioned at the free end outside of the 3rd sealing flange section 503, for connecting fin 6 of flapping; Thus can by the Movement transmit of servo motor B 504 on transmission shaft 506 by the planetary reduction gear 505 of 40:1 reduction ratio.Transmission shaft 506 is socketed with deep groove ball bearing, deep groove ball bearing and the 3rd sealing flange section 503 are connected, and can be ensured the concentricity in the cross section of the first sealing flange section 501, second sealing flange section 502, the 3rd sealing flange section 503 axis and transmission shaft 506 by deep groove ball bearing; And the free end of the 3rd sealing flange section 503 inside and coupling end place are respectively arranged with mechanical sealing linkage ring and mechanical sealing static ring, realize the mechanical seal to whole fin limb 5; In the middle part of 3rd sealing flange section 503, outer wall is provided with grease nozzle, injects fluid by butter nozzle to the 3rd sealing flange section 503 inside, further enhance the sealing effectiveness of fin limb 5.The free end of the transmission shaft 506 of each fin limb 5 above-mentioned is all provided with and pats fin 6, pat fin 6 and all adopt modular structure, namely each beating fin 6 is by servo motor B 504 individual drive on place fin limb 5 and control.The section patting fin 6 adopts NACA0012 symmetrical airfoil, and chord length is 150mm, and the distance of aerofoil and string calculates by NACA0012 aerofoil profile data and obtains.Each fin limb 5 all passes through connected transmission shaft 506 and drives, and with transmission shaft 506 for axle carries out circular movement, thus by the circular movement of four fin limbs 5, can control under-water robot thrust direction neatly.For the ease of realizing the turning motion of whole under-water robot, two the fin limbs 5 be connected with head connector 101 turn forward and install, two the fin limbs 5 be connected with Caudal connectors 102 tilt backwards installation, and four fin limb 5 axis are equal with the axis angle α in body portion 1, and α is 80 ° ~ 85 °; In the present invention, α is preferably 82.5 °.
As shown in Figure 6, in described control system 8, main control part 801 comprises control desk 801a and four fin limb actuator 801b; Control desk 801a is arranged in afterbody 3, is connected with ground station by umbilical cables; Control desk 801a is also connected by connection lead with two counterweight actuators in carry equipment 7, navigational portions 802, four fin limb actuator 801b and balance weight mechanism 4 with sensing.Wherein, four fin limb actuator 801b are one group between two, are arranged in the equipment compartment at front and rear in body portion 1 respectively; Two the fin limb actuator 801b being positioned at front, body portion 1 are connected with the inner servo motor B 504 of two fin limbs 5 that head connector 101 is installed respectively; Two the fin limb actuator 801b being positioned at rear, body portion 1 are connected with the inner servo motor B 504 of two fin limbs 5 that Caudal connectors 102 is installed respectively.By above-mentioned connection, control desk 801a realizes following function: the control command that control desk 801a sends by accepting ground station, control panorama fish eye lens A701, panorama fish eye lens B702 in sensing and carry equipment 7 to work, realize the acquisition of underwater picture information, and by control desk 801a, graphicinformation is gathered; Control desk 801a controls two counterweight actuators and regulates clump weight 402 position on leading screw 404, and the center of gravity realizing under-water robot regulates; Control desk 801a controls four fin limb actuator 801b and drives the inner servo motor B 504 of each fin limb 5 to work respectively, realizes under-water robot and to flap the motion control of fin 6.Control desk 801a also gathers the range data that the high sonar 703 of the survey in sensing and carry equipment 7 obtains.
Described navigational portions 802 is arranged in afterbody 3, and being AHRS attitude heading reference system, is the conglomerate of a multisensor, comprises three-axis gyroscope, 3-axis acceleration sensor, magnetic strength take into account Embedded attitude data solving unit.Wherein, three-axis gyroscope is used for measuring the angular rate of under-water robot on x, y, z three axle in real time; 3-axis acceleration sensor is used for measuring in real time the acceleration of motion in under-water robot x, y, z three directions; Magnetometer is used for measuring under-water robot relative to the motion course in geographic coordinate system; Attitude data solving unit obtains the angular rate of above-mentioned under-water robot on x, y, z three axle, acceleration of motion, motion course, and obtain the gps satellite signal that the hydraulic pressure data that record of pressure sensor 705 and gps antenna 301 receive simultaneously, by expanded Kalman filtration algorithm EKF(Extended Kalman Filter) carry out data fusion calculating, finally obtain the attitude of under-water robot, speed and location information, be sent to control desk 801a.
Described power supply 803 is the maximum component part of under-water robot weight and volume, by at least 20 voltages be 24V, total volume is that the ferric phosphate lithium cell of 20Ah is formed, be connected with control desk 801a, be used for powering for the work of under-water robot, can ensure that under-water robot of the present invention reaches more than 10 hours cruise duration, the information about power of power supply 803 is gathered by control desk 801a.
The graphicinformation received is sent to ground station by umbilical cables middle impedance 75 ohm of video coaxial cables by described control desk 801a, simultaneously also by the attitude received, acceleration/accel, speed and location information together with surveying the status information of range data, servomotor A405 and servo motor B 504 that records of high sonar 703 and the information about power of power supply 803, be sent to surface control station by the CAN in umbilical cables; Realize robot thus to flap gait, electricity consumption situation, the monitoring of working condition.
Because the need of work integral structure of under-water robot of the present invention seals, the cabling mode therefore in the present invention between each several part is: in head connector 101 with Caudal connectors 102, have head channel and afterbody passage; The terminals surveying high sonar 703 are communicated with the 4th chamber 204 in head with cabling pipe fitting by waterproof joint A; The terminals of panorama fish eye lens A701 are communicated with head channel by the cable tray on head 2 sidewall; The terminals of panorama fish eye lens B702 are communicated with body portion by waterproof joint B; Motor cover 406 is connected by the waterproof joint D of waterproof joint C head connector 101 front end.Thus, cabling is realized by afterbody passage, body portion and head channel successively between control desk 801a and pressure sensor 705; Control desk 801a and survey between high sonar 703 and realize cabling by afterbody passage, body portion 1, head channel, waterproof joint A successively; Cabling is realized by the cable tray on afterbody passage, body portion 1, head channel, head 2 sidewall successively between control desk 801a and panorama fish eye lens A701; Cabling is realized by afterbody passage, body portion 1, waterproof joint B successively between control desk 801a and panorama fish eye lens B702; Control desk and four fin limb actuator 801b realize cabling by afterbody passage; Four fin limb actuator 801b are realized by fin limb 5 inner passage with the cabling between servo motor B 504 in corresponding four fin limbs 5; And the servomotor A405 in two counterweight actuators and two balance weight mechanisms 4 becomes one, realized by its inner cable tray, the cabling between two counterweight actuators and control desk 801a is realized by the cable tray between the above motor cover 406 and head connector 101, head channel, body portion 1, afterbody passage successively
In each fin limb 5 of under-water robot of the present invention, be bonded with Hall element at the second inner coupling end place of sealing flange section 502, transmission shaft 506 is adsorbed with the strong magnetic permanent-magnet (magnet piece) of a 5*5*5mm, permanent magnet can rotate with transmission shaft 506; When the Hall element in each fin limb 5 detects permanent magnet position, each fin 6 of flapping all is in horizontality, and now, under-water robot is in initial condition; Thus realize the initial condition location of each fin 6 of flapping.When whole bionical green turtle system electrification, four fin limbs 5 can circle by automatic rotary, when the position of rotation of transmission shaft 506 just in time makes Hall element relative with permanent magnet, Hall element produces a larger outgoing current, pass to the turned position that control desk records now transmission shaft 506, sending instruction with rear control plate 801a controls Hall element and permanent magnet alignment by servo motor B 504, now position makes each beating fin 6 and health plane parallel just, completes the initialization of patting fin 6 position.Between described Hall element and control desk 801a, waterproof joint D inner by place fin limb 5 realizes cabling successively.
Under-water robot of the present invention, when independently locating, first triggers gps antenna 301 and works, control four fins 6 of flapping subsequently and flap, whole under-water robot is floated; When arriving apart from the sea level 2m degree of depth, controlling counterweight driven by servomotor leading screw 404 makes clump weight 402 mobile to front portion, body portion 1, under-water robot center of gravity is moved forward, flap by controlling four cooperations between fin 6 of flapping, adjust the attitude of whole under-water robot, afterbody is stood upside down upward vertically emerge, and keep upright state; Because afterbody 3 shell is plastic material, therefore can not shield gps antenna 301 and receive gps satellite signal, be obtained the latitude and longitude information of now under-water robot thus by navigational portions 802, realize from the autonomous location in marine environment.After having located, flapping by controlling four cooperations between fin 6 of flapping, under-water robot being adjusted in travelling attitude dive to water and continuing to execute the task.
Claims (10)
1. imitative green turtle four fin is flapped a formula autonomous underwater robot, it is characterized in that: comprise fuselage, head, tail, balance weight mechanism, fin limb, fin of flapping, carry equipment and control system; Fuselage is tubular structure, and front end and rear end seal respectively by head connector and Caudal connectors; Head connector front end is connected with head; Caudal connectors rear end is provided with tail; Carry equipment comprises panorama fish eye lens A, panorama fish eye lens B, surveys high sonar, light source and pressure sensor; Control system comprises main control part, navigational portions and power supply, is arranged on fuselage interior;
Described head has four cavitys, after front, be followed successively by the first chamber, the second chamber, the 3rd chamber and the 4th chamber; First chamber, the second chamber and the 4th chamber are closed chamber; And the 3rd chamber sidewall upper shed; Wherein, the first chamber front end face is provided with panorama fish eye lens A, camera lens is towards under-water robot front; Be provided with in second chamber and survey high sonar, the end of probe surveying high sonar stretches out the second chamber, below under-water robot; 4th chamber is provided with pressure sensor, and the end of probe of pressure sensor stretches out the 4th chamber, is positioned at the 3rd chamber; Front, machinery body portion is also provided with a panorama fish eye lens B, and lens direction upwards; Described tail inside arranges gps antenna;
Above-mentioned fuselage both sides are respectively provided with a set of balance weight mechanism; Described balance weight mechanism is made up of counterweight cylinder, clump weight, leading screw bearing, leading screw, servomotor A and motor cover; Wherein, counterweight cylinder rear and front end is respectively by motor cover and end cap seal; Counterweight cylinder interior forward end and rear end are all provided with leading screw bearing by bearing seat; Be coaxially arranged with leading screw in counterweight cylinder, on leading screw, screw thread is provided with clump weight; The leading screw bearing at inner two ends is coupling with counterweight cylinder respectively at the two ends of leading screw; The output shaft fixed connection of leading screw front end and servomotor A, servomotor A is fixed on motor cover inside, servomotor A has the counterweight actuator of integration;
The head connector both sides of described front fuselage, and the Caudal connectors both sides of back body are also separately installed with a fin limb, totally four; Four fin limb structures are identical, comprise the first sealing flange section, the second sealing flange section, the 3rd sealing flange section, servo motor B, planetary reduction gear and transmission shaft; First sealing flange section, the second sealing flange section, the 3rd sealing flange section are coaxially arranged; First sealing flange intersegmental part is used for installing servo motor B, and the fixed end of the first sealing flange section is used for fixing between fin limb and fuselage, and coupling end is connected with the fixed end of the second sealing flange section; Second sealing flange section is used for installing planetary reduction gear, and the coupling end of the second sealing flange section is connected with the fixed end of the 3rd sealing flange section; 3rd sealing flange intersegmental part is used for arranging transmission shaft; Output shaft and the planetary reduction gear of above-mentioned servo motor B are connected, and the output shaft of planetary reduction gear is connected with transmission shaft coupling end, and the free end of transmission shaft is positioned at the free end outside of the 3rd sealing flange section; Each fin limb inner sealing above-mentioned, the free end of the transmission shaft of each fin limb is all provided with a fin of flapping;
Described control system is installed in fuselage interior, and wherein, main control part comprises control desk and four fin limb actuators; Control desk is used for realizing following function: the control command that control desk sends by accepting ground station, controls panorama fish eye lens A, panorama fish eye lens B in carry equipment and works, realize the acquisition of underwater picture information, and gathered graphicinformation by control desk; Control desk controls two counterweight actuators and regulates clump weight position on leading screw, and the center of gravity realizing under-water robot regulates; Control desk controls four fin limb actuators and drives the inner servo motor B work of each fin limb respectively, realizes under-water robot and to flap the motion control of fin; Control desk also gathers the altitude information in the under-water robot distance seabed that the high sonar of the survey in carry equipment obtains;
Described navigational portions is used for measuring angular rate, acceleration of motion and the under-water robot of under-water robot on x, y, z three axle relative to the motion course in geographic coordinate system; Obtain the gps satellite signal that the hydraulic pressure data that record of pressure sensor and gps antenna receive simultaneously, thus obtain the attitude of under-water robot, speed and location information, be sent to control desk;
The image received letter and the attitude of under-water robot, acceleration/accel, speed and location information together with surveying elevation information, servomotor A and the status information of servo motor B and the information about power of power supply that high sonar records, are sent to surface control station by described control desk;
Described power supply is used for as the work of under-water robot is powered; The information about power of power supply is gathered by control desk.
2. a kind of imitative green turtle four fin is flapped formula autonomous underwater robot as claimed in claim 1, it is characterized in that: in described four fin limbs, is bonded with Hall element, transmission shaft is adsorbed with permanent magnet at the second sealing flange intersegmental part coupling end place; When the Hall element in each fin limb detects permanent magnet position, send current signal to control desk, now each fin of flapping all is in horizontality.
3. a kind of imitative green turtle four fin is flapped formula autonomous underwater robot as claimed in claim 1, it is characterized in that: described in the flap section of fin adopt NACA0012 symmetrical airfoil, chord length is 150mm, and the distance of aerofoil and string is passed through NACA0012 aerofoil profile data and calculated and obtain.
4. a kind of imitative green turtle four fin is flapped formula autonomous underwater robot as claimed in claim 1, it is characterized in that: in described four fin limbs, two the fin limbs be connected with head connector turn forward and install, two the fin limbs be connected with Caudal connectors tilt backwards installation, and four fin limb axis are equal with the axis angle α of fuselage, α is 80 ° ~ 85 °.
5. a kind of imitative green turtle four fin is flapped formula autonomous underwater robot as claimed in claim 4, it is characterized in that: described α is preferably 82.5 °.
6. a kind of imitative green turtle four fin is flapped formula autonomous underwater robot as claimed in claim 1, and it is characterized in that: the transmission shaft in described four fin limbs is all socketed with deep groove ball bearing, deep groove ball bearing and the 3rd sealing flange section are connected.
7. a kind of imitative green turtle four fin is flapped formula autonomous underwater robot as claimed in claim 1, it is characterized in that: in four fin limbs, free end and the coupling end place of the 3rd sealing flange intersegmental part are respectively arranged with mechanical sealing linkage ring and mechanical sealing static ring, realize the sealing of fin limb inside.
8. a kind of imitative green turtle four fin is flapped formula autonomous underwater robot as claimed in claim 1, it is characterized in that: described power supply by least 20 voltages be 24V, electricity is that the ferric phosphate lithium cell of 20Ah is formed.
9. a kind of imitative green turtle four fin is flapped formula autonomous underwater robot as claimed in claim 1, it is characterized in that: the balance weight mechanism of described fuselage both sides is symmetrically set.
10. a kind of imitative green turtle four fin is flapped formula autonomous underwater robot as claimed in claim 1, it is characterized in that: described fuselage front is provided with two waterproof pressure light intensity light source, and direction of illumination is towards under-water robot front.
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