CN104029805A - An underwater spherical robot for shallow water detection - Google Patents

An underwater spherical robot for shallow water detection Download PDF

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Publication number
CN104029805A
CN104029805A CN201410092786.4A CN201410092786A CN104029805A CN 104029805 A CN104029805 A CN 104029805A CN 201410092786 A CN201410092786 A CN 201410092786A CN 104029805 A CN104029805 A CN 104029805A
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CN
China
Prior art keywords
pressure
robot
shell
ball sealer
proof ball
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201410092786.4A
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Chinese (zh)
Inventor
罗均
邹旭东
姚骏峰
祝川
冯凯
李梦
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Publication date
Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN201410092786.4A priority Critical patent/CN104029805A/en
Publication of CN104029805A publication Critical patent/CN104029805A/en
Pending legal-status Critical Current

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Abstract

An underwater spherical robot for shallow water detection is disclosed. The robot comprises a pressure-proof sealing spherical shell structure, assistant propellers, a main propeller, an inner control device, a taper pedestal, a camera device and a sealing strip. The pressure-proof sealing spherical shell structure is formed by sealing two semicircular spherical shells with the sealing strip. The four assistant propellers are fixedly installed outside the pressure-proof sealing spherical shell structure, and are evenly distributed at the hemisphere cross section. The main propeller is fixedly installed at the bottom of the pressure-proof sealing spherical shell structure. The installation axis of the main propeller is perpendicular to the installation axis of the assistant propellers and passes through the centre of sphere. The taper pedestal is fixedly installed at the bottom of the pressure-proof sealing spherical shell structure. The camera device is installed on an inner platform of the pressure-proof sealing spherical shell structure. The robot is good in integral pressure-proof effects, conform to hydromechanics, flexible and convenient for underwater movement and good in environmental suitability, and can be used as a detection device for shallow water detection that cannot be completed directly by humans.

Description

A kind of shallow water is surveyed underwater spherical robot
Technical field
The present invention relates to a kind of shallow water and survey underwater spherical robot.Be exactly to have designed a small underwater ball shape robot with propeller specifically, this robot can be in the motion that turns to flexibly and go as course of horizontal surface and vertical surface, is a kind ofly can be applied to the shallow water detection spherical robot that the mankind cannot directly complete.
Background technology
Along with the increase of earth population and human life quality's raising, the more natural resources of the mankind's production and living needs meets, and current land resource has exceedingly been exploited, and energy shock becomes increasingly conspicuous.Ocean has covered the area of the earth 2/3rds, and a large amount of solid mineral resource and hydrocarbon resources are being contained in its inside, and it is by the maximum resource supplier who is human survival and development.Yet up to now, the mankind go back ground zero to the exploration of ocean, and the understanding of ocean interior and bottom thereof is still rested on to the primary stage.Microminiature underwater robot (Autonomous Underwater Vehicles) is called for short AUV, caused that in recent years researchist more and more pays close attention to, because have on the one hand, carry conveniently, motion flexibly, the feature that cost is low, conveniently carries out the scientific research such as data acquisition in underwater exploration and water; Another conveniently has, and noise is low, the advantage of good concealment, can utilize it to carry out waters investigation, the military missions such as seaborne assault.As can be seen here, the research and development of small underwater robot are extremely important.
Along with going deep into extensive of research, it is varied that the kind of microminiature AUV also becomes.Modal under-water robot is mainly divided into two kinds, and a kind of is to be developed by torpedo, has cylinder blanket, relies on single propelling unit and tail vane mechanism to coordinate advance and turn to.Another kind is open-shelf, has square structure, needs configuration compared with multi-thruster, and each action needs several propelling units to act synergistically.Yet two types of under-water robots have certain shortcoming, and the former steering capability is poor, and turn radius is large, conventionally need the Comprehensive Control of propelling unit and tail vane, design more complicated.Although the latter only needs propelling unit, due to the impact of profile, the power aspect of being expert at a little less than.Therefore, for above deficiency, design a kind of motion flexibly under-water robot be of great value.
At present, ball shape robot is as a kind of mobile robot of novelty, with traditional wheeled, crawler type or sufficient formula mobile robot, compares, and has certain field adaptive capacity, is not easy overturning failure characteristic.Spherical shell can well adapt to particular surroundings under water.In addition, the propelling unit of general under-water robot is all arranged on the outside of body, easily with water in object come in contact even and collide, cause angle of rake damage.
Summary of the invention
The object of the invention is to for existing under-water robot not enough, propose a kind of shallow water and survey underwater spherical robot, can meet the motion that turns to flexibly and go as course of horizontal surface in water and vertical surface, be a kind ofly can be applied to the shallow water detection spherical robot that the mankind cannot directly complete.
In order to reach above-mentioned requirements, design of the present invention is:
The present invention adopts spherical mechanism, can be good at adapting to underwater environment and carries out detection operations, inner propeller is played a protective role simultaneously.This robot adopts a main screw propelling unit to realize movement in vertical direction in water, simultaneously by realizing horizontal motion in robot water to being equidistantly uniformly distributed in four auxiliary propeller propelling units of hemisphere section.In robot bottom, sloped footing is installed, for robot provides a stable landing platform.
According to foregoing invention design, the present invention adopts following technical proposals:
Shallow water is surveyed a underwater spherical robot, mainly comprises a pressure-proof ball sealer shell structure, four auxiliary propeller propelling units, a main screw propelling unit, an internal control device, a sloped footing, a cam device and a sealing band; It is characterized in that: described pressure-proof ball sealer shell structure is sealed to form by described sealing band by two bullets; Described four auxiliary propeller propelling units are fixedly mounted on pressure-proof ball sealer shell structure spherical shell, are equidistantly uniformly distributed in spherical shell hemisphere section; Described main screw propelling unit is fixedly mounted on pressure-proof ball sealer shell structure bottom, axis is installed vertical with auxiliary propeller propelling unit installation axis, and through the centre of sphere.Described internal control device comprises control system and power module; Described sloped footing is fixedly mounted on pressure-proof ball sealer shell structure bottom, and main screw propelling unit is protected; Described cam device is arranged on pressure-proof ball sealer shell structure inside panel, is convenient to investigate under water.
The spherical shell material of described pressure-proof ball sealer shell structure is selected transparent organic glass material, not only withstand voltage but also facilitate inner detecting devices investigation, and good looking appearance.
Described four auxiliary propeller propelling units are equidistantly uniformly distributed in hemisphere section, a main screw propelling unit is fixedly mounted on pressure-proof ball sealer shell structure bottom, by coordination, control the motion that turns to flexibly and go as course of the horizontal surface that can meet in water and vertical surface, realize robot flexible motion under water.
Described sloped footing is fixedly mounted on pressure-proof ball sealer shell structure bottom, main screw propelling unit is protected, simultaneously for robot provides a stable landing platform.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
(1) shallow water of the present invention is surveyed underwater spherical robot main screw propelling unit and auxiliary propeller propelling unit vertical summetry distributing installation, compact conformation, good stability;
(2) shallow water of the present invention is surveyed underwater spherical robot and is controlled main screw propelling unit and auxiliary propeller propelling unit by coordination, can realize the motion that turns to flexibly and go as course of the horizontal surface of robot in water and vertical surface;
(3) shallow water detection underwater spherical robot propeller of the present invention and internal control system are all in the inside of spherical shell, and spherical shell plays a protective role, the safety while having improved robot underwater exercise;
(4) shallow water detection underwater spherical robot pressure-proof ball sealer shell structure of the present invention is sealed to form by sealing band by two bullets, and spherical shell material is selected transparent organic glass material, not only withstand voltage but also facilitate inner detecting devices investigation, and good looking appearance.
(5) shallow water of the present invention is surveyed underwater spherical robot and is fixed on spherical shell structure bottom installation sloped footing, main screw propelling unit is protected, simultaneously for robot provides a stable landing platform.
Accompanying drawing explanation
Fig. 1 is overall appearance schematic diagram of the present invention.
Fig. 2 is inner structure schematic diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are further described.
Embodiment mono-:
Referring to Fig. 1, this shallow water is surveyed underwater spherical robot, mainly comprise a pressure-proof ball sealer shell structure (1), four auxiliary propeller propelling units (5), a main screw propelling unit (6), an internal control device (7), a sloped footing (2), a cam device (4) and a sealing band (3), described pressure-proof ball sealer shell structure is sealed to form by sealing band (3) by two bullets; Described four auxiliary propeller propelling units (5) are fixedly mounted on pressure-proof ball sealer shell structure (1) outside, are equidistantly uniformly distributed in hemisphere section; Described main screw propelling unit (6) is fixedly mounted on pressure-proof ball sealer shell structure (1) bottom, axis is installed vertical with auxiliary propeller propelling unit (5) installation axis, and through the centre of sphere.Described internal control device (7) comprises control system and power module; Described sloped footing (2) is fixedly mounted on pressure-proof ball sealer shell structure (1) bottom, and main screw propelling unit (6) is protected; Described cam device (4) is arranged on pressure-proof ball sealer shell structure (1) inside panel, is convenient to investigate under water.
Embodiment bis-:
The present embodiment and embodiment mono-are basic identical, and special feature is as follows: the spherical shell material of described pressure-proof ball sealer shell structure (1) is selected transparent organic glass material, not only withstand voltage but also facilitate inner detecting devices investigation, and good looking appearance.
Embodiment tri-:
The present embodiment and embodiment mono-are basic identical, special feature is as follows: referring to Fig. 1 ~ Fig. 2, this shallow water is surveyed underwater spherical robot, comprises a pressure-proof ball sealer shell structure (1), four auxiliary propeller propelling units (5), a main screw propelling unit (6), an internal control device (7), a sloped footing (2), a cam device (4) and a sealing band (3).
Described four auxiliary propeller propelling units (5) are equidistantly uniformly distributed in hemisphere section, a main screw propelling unit (6) is fixedly mounted on pressure-proof ball sealer shell structure (1) bottom, by coordination, control the motion that turns to flexibly and go as course of the horizontal surface that can meet in water and vertical surface, realize robot flexible motion under water.
Described sloped footing (2) is fixedly mounted on pressure-proof ball sealer shell structure (1) bottom, main screw propelling unit (6) is protected, simultaneously for robot provides a stable landing platform.
Embodiment tetra-: the present embodiment and embodiment mono-are basic identical, special feature is as follows: robot can carry cam device (4) and other sensing equipments carry out underwater exploration task, can be applicable to the shallow water detection that the mankind cannot directly complete, have broad application prospects.
Working process of the present invention is as follows:
Shallow water of the present invention is surveyed underwater spherical robot compact conformation, and volume is small and exquisite, has realized ball shape robot at underwater exercise, has improved alerting ability and the range of movement of ball shape robot.Shallow water of the present invention is surveyed the outside pressure-proof ball sealer shell structure of underwater spherical robot (1) and is sealed to form by sealing band (3) by two bullets, spherical shell material is selected transparent organic glass material, not only withstand voltage but also facilitate inner detecting devices investigation, and good looking appearance.Shallow water of the present invention is surveyed underwater spherical robot and by coordination, is controlled main screw propelling unit (6) and auxiliary propeller propelling unit (5) and can meet the motion that turns to flexibly and go as course of horizontal surface in water and vertical surface, realizes robot flexible motion under water.Shallow water of the present invention is surveyed underwater spherical robot at pressure-proof ball sealer shell structure bottom (1) fixed installation sloped footing (2), for robot provides a stable landing platform.Shallow water detection underwater spherical robot of the present invention can carry cam device (4) and other sensing equipments carry out underwater exploration task, can be applicable to the shallow water detection that the mankind cannot directly complete, and has broad application prospects.

Claims (5)

1. a shallow water is surveyed underwater spherical robot, mainly comprise a pressure-proof ball sealer shell structure (1), four auxiliary propeller propelling units (5), a main screw propelling unit (6), an internal control device (7), a sloped footing (2), a cam device (4) and a sealing band (3), it is characterized in that: described pressure-proof ball sealer shell structure (1) is sealed to form by described sealing band (3) by two bullets; Described four auxiliary propeller propelling units (5) are fixedly mounted on pressure-proof ball sealer shell structure (1) spherical shell, are equidistantly uniformly distributed in hemisphere section; Described main screw propelling unit (6) is fixedly mounted on pressure-proof ball sealer shell structure (1) bottom, axis is installed vertical with auxiliary propeller propelling unit (5) installation axis, and through the centre of sphere.
2. internal control device described in (7) comprises that a control system connects a power module; Described sloped footing (2) is fixedly mounted on pressure-proof ball sealer shell structure (1) bottom, and main screw propelling unit (6) is protected; Described cam device (4) is arranged on pressure-proof ball sealer shell structure (1) inside panel, is convenient to investigate under water.
3. shallow water according to claim 1 is surveyed underwater spherical robot, it is characterized in that: the spherical shell material of described pressure-proof ball sealer shell structure (1) is selected transparent organic glass material, not only withstand voltage but also facilitate inner detecting devices investigation, and good looking appearance.
4. shallow water according to claim 1 is surveyed underwater spherical robot, it is characterized in that: described four auxiliary propeller propelling units (5) are equidistantly uniformly distributed in the hemisphere section of spherical shell, realizes robot flexible motion under water.
5. shallow water according to claim 1 is surveyed underwater spherical robot; it is characterized in that: described sloped footing (2) is fixedly mounted on pressure-proof ball sealer shell structure (1) bottom; main screw propelling unit (6) is protected, simultaneously for robot provides a stable landing platform.
CN201410092786.4A 2014-03-14 2014-03-14 An underwater spherical robot for shallow water detection Pending CN104029805A (en)

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Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104118548A (en) * 2014-07-09 2014-10-29 杨云柳 Fixed sealed normal-pressure bathyscaphe
CN104260836A (en) * 2014-10-11 2015-01-07 东南大学 Water area surveillance robot for collecting water area information and control method thereof
CN105083518A (en) * 2015-08-14 2015-11-25 苏州金业船用机械厂 Propelling device for electrically-controlled boat
CN105564615A (en) * 2015-12-29 2016-05-11 上海大学 Six-degree-of-freedom spherical underwater robot bionic eye
CN105676869A (en) * 2016-01-16 2016-06-15 上海大学 Real-time concurrent control system of six-degree-of-freedom eyeball type underwater robot
CN107380391A (en) * 2017-07-31 2017-11-24 苏州逸纪杰电子科技有限公司 A kind of hybrid power underwater robot that power is provided using built-in power
CN107380376A (en) * 2017-07-31 2017-11-24 苏州惠贝电子科技有限公司 Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week
CN107380379A (en) * 2017-07-31 2017-11-24 苏州惠贝电子科技有限公司 The underwater robot that can be driven with any angle
CN107380382A (en) * 2017-07-31 2017-11-24 苏州惠贝电子科技有限公司 A kind of underwater robot that can be driven with any angle
CN107434018A (en) * 2017-07-31 2017-12-05 苏州惠贝电子科技有限公司 A kind of pressing plate spacing-type annular matrix for universal underwater robot
CN107444592A (en) * 2017-07-31 2017-12-08 苏州惠贝电子科技有限公司 A kind of annular matrix for universal underwater robot
CN107458559A (en) * 2017-07-31 2017-12-12 苏州大贝岩电子科技有限公司 The underwater robot in power drive direction can be changed
CN107531317A (en) * 2015-03-03 2018-01-02 麻省理工学院 Submarine navigation device designs and control method
CN107363843B (en) * 2017-07-31 2018-06-19 乐清市华尊电气有限公司 A kind of underwater robot of hybrid power driving
CN108569386A (en) * 2017-07-31 2018-09-25 钱小英 The underwater robot powered using graphene carbon brush
CN109178214A (en) * 2018-09-20 2019-01-11 上海大学 A kind of intelligence underwater observation platform
CN109319051A (en) * 2018-09-20 2019-02-12 上海大学 A kind of variable area implantation quick release mechanism for underwater observation platform
CN109353482A (en) * 2018-08-31 2019-02-19 杭州电子科技大学 A kind of propeller and underwater robot
CN110104148A (en) * 2019-05-09 2019-08-09 李纳 A kind of propulsion regulating device of unmanned bathyscaphe
CN111267567A (en) * 2020-02-26 2020-06-12 西安交通大学 Heavy pendulum eccentric driving amphibious reconnaissance spherical robot

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Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104118548A (en) * 2014-07-09 2014-10-29 杨云柳 Fixed sealed normal-pressure bathyscaphe
CN104260836A (en) * 2014-10-11 2015-01-07 东南大学 Water area surveillance robot for collecting water area information and control method thereof
CN107531317A (en) * 2015-03-03 2018-01-02 麻省理工学院 Submarine navigation device designs and control method
CN105083518A (en) * 2015-08-14 2015-11-25 苏州金业船用机械厂 Propelling device for electrically-controlled boat
CN105564615B (en) * 2015-12-29 2018-03-06 上海大学 A kind of six degree of freedom spherical underwater robot bionic eye
CN105564615A (en) * 2015-12-29 2016-05-11 上海大学 Six-degree-of-freedom spherical underwater robot bionic eye
CN105676869A (en) * 2016-01-16 2016-06-15 上海大学 Real-time concurrent control system of six-degree-of-freedom eyeball type underwater robot
CN105676869B (en) * 2016-01-16 2018-10-23 上海大学 A kind of six degree of freedom eyeball underwater robot real-time obstacle avoidance system
CN107458559A (en) * 2017-07-31 2017-12-12 苏州大贝岩电子科技有限公司 The underwater robot in power drive direction can be changed
CN107434018A (en) * 2017-07-31 2017-12-05 苏州惠贝电子科技有限公司 A kind of pressing plate spacing-type annular matrix for universal underwater robot
CN107444592A (en) * 2017-07-31 2017-12-08 苏州惠贝电子科技有限公司 A kind of annular matrix for universal underwater robot
CN107380382A (en) * 2017-07-31 2017-11-24 苏州惠贝电子科技有限公司 A kind of underwater robot that can be driven with any angle
CN107380379A (en) * 2017-07-31 2017-11-24 苏州惠贝电子科技有限公司 The underwater robot that can be driven with any angle
CN107380376A (en) * 2017-07-31 2017-11-24 苏州惠贝电子科技有限公司 Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week
CN107363843B (en) * 2017-07-31 2018-06-19 乐清市华尊电气有限公司 A kind of underwater robot of hybrid power driving
CN107380391A (en) * 2017-07-31 2017-11-24 苏州逸纪杰电子科技有限公司 A kind of hybrid power underwater robot that power is provided using built-in power
CN107380382B (en) * 2017-07-31 2018-06-19 乐清市风杰电子科技有限公司 A kind of underwater robot that can be driven with any angle
CN107380379B (en) * 2017-07-31 2018-06-26 乐清市风杰电子科技有限公司 The underwater robot that can be driven with any angle
CN107458559B (en) * 2017-07-31 2018-06-26 乐清市风杰电子科技有限公司 The underwater robot in power drive direction can be changed
CN108569386A (en) * 2017-07-31 2018-09-25 钱小英 The underwater robot powered using graphene carbon brush
CN108583828A (en) * 2017-07-31 2018-09-28 钱小英 A kind of underwater robot of hybrid power driving using the power supply of graphene carbon brush
CN108609141A (en) * 2017-07-31 2018-10-02 钱小英 Utilize the underwater robot of the hybrid power driving of graphene carbon brush power supply
CN107380376B (en) * 2017-07-31 2018-06-19 乐清市风杰电子科技有限公司 It can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week
CN109353482A (en) * 2018-08-31 2019-02-19 杭州电子科技大学 A kind of propeller and underwater robot
CN109178214A (en) * 2018-09-20 2019-01-11 上海大学 A kind of intelligence underwater observation platform
CN109319051A (en) * 2018-09-20 2019-02-12 上海大学 A kind of variable area implantation quick release mechanism for underwater observation platform
CN109319051B (en) * 2018-09-20 2019-12-20 上海大学 A variable area implantation quick release mechanism for observing platform under water
CN110104148A (en) * 2019-05-09 2019-08-09 李纳 A kind of propulsion regulating device of unmanned bathyscaphe
CN111267567A (en) * 2020-02-26 2020-06-12 西安交通大学 Heavy pendulum eccentric driving amphibious reconnaissance spherical robot
CN111267567B (en) * 2020-02-26 2021-07-27 西安交通大学 Heavy pendulum eccentric driving amphibious reconnaissance spherical robot

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