CN105197206A - Rope-driven underwater detection robot - Google Patents
Rope-driven underwater detection robot Download PDFInfo
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- CN105197206A CN105197206A CN201510700519.5A CN201510700519A CN105197206A CN 105197206 A CN105197206 A CN 105197206A CN 201510700519 A CN201510700519 A CN 201510700519A CN 105197206 A CN105197206 A CN 105197206A
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Abstract
The invention relates to a rope-driven underwater detection robot, which can be used for visual detection on an underwater structure and comprises an above water platform, a winch unit, an underwater mobile platform, an underwater mechanical arm unit, a camera, a light source, a power supply, a controller unit and an interactive control unit, wherein a winch is connected with the mobile platform by a rope, and the rope is wound on the winch; the camera and the light source respectively sleeve one end of the underwater mechanical arm unit; an underwater control unit is fixed on the underwater mobile platform, and the underwater mechanical arm unit, the camera, the light source, a mobile platform attitude sensor and the controller unit are respectively connected with the underwater control unit. By means of rope driving, the mobile platform is controlled to do the actions of ascending and horizontal movement, and a mechanical arm adjusts the camera in a small scope; the condition that a propeller is adopted, so that a water body is more turbid and imaging detecting quality is reduced can be avoided, and thus a final detection effect can be improved, and the underwater imaging detecting sensitivity is improved.
Description
Technical field
The present invention relates to a kind of underwater detecting robot, particularly a kind of underweater vision measuring robots adopting rope to drive.
Background technology
Underwater engineering, underwater detecting robot, underwater televisions etc. under water testing equipment have been widely used in detecting under water and operation, underwater detecting robot conventional at present adopts propeller to drive mostly, particularly in marine settings, a large amount of use propeller drives under-water robot to carry out being elevated and moving, but, in the river that water quality is poor, river, in lake, the under-water robot of thrust by airscrew exists significantly not enough, propeller is in the process of running, owing to having stirred the silt in water body in a large number, the opacity of easy increase water body, the quality of image checking is caused to reduce.On the other hand, underwater television adopts single rope hanging, and underwater photographic system can only adjust angle and position among a small circle, cannot realize under water within the scope of three dimensional space the scanning of quick travel vision detect.
Basin, the inland river water body of China contains the impurity such as a large amount of silt, germ, have a strong impact on the quality that Underwater Imaging detects, and a large amount of underwater structures, such as river levee, dam, sluice gate etc., long period of soaking, in water, bears larger hydraulic pressure, therefore, be badly in need of wanting a kind of and can realize scanning on a large scale in the poor water body of water quality, obtain the underwater detecting robot of high definition image.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of measuring robots that can be used for obtaining in the poor environment of water quality better image sharpness.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of rope drives underwater detecting robot, comprises at least one above water platform, winch unit, underwater movable platform, submarine mechanical arm unit, camera, light source, power supply, controller unit and interaction control unit; Described above water platform is positioned at more than the water surface, each described above water platform is fixed with winch unit described at least one, and described winch unit comprises reel, gear cluster, winch motor, winch Position and attitude sensor and winch coder; Described reel is connected to the side of described gear cluster, and described winch motor is connected to the opposite side of described gear cluster; Described winch Position and attitude sensor is fixedly connected with described above water platform, and described winch coder is arranged on described winch motor or described reel; Be connected by rope between described underwater movable platform with described winch unit; Described underwater movable platform is provided with a underwater control unit and at least one group of mobile platform attitude sensor; One end of described submarine mechanical arm unit is arranged on described underwater movable platform; Described camera and described light source are socketed on the other end of described submarine mechanical arm unit respectively; Described underwater control unit is fixed on described underwater movable platform, and described submarine mechanical arm unit, camera, light source, mobile platform attitude sensor and controller unit are connected with described underwater control unit line respectively; Described power supply is connected with power-supply controller of electric, described power-supply controller of electric respectively with underwater control unit and controller unit connection.
Preferably, described Waterborne movable platform adopts the combination of one or more in ship, vehicle, fixed buildings or fixed spreader.
Preferably, described submarine mechanical arm unit comprises mechanical arm actuator, mechanical arm motor, mechanical arm coder and at least one joint of mechanical arm; One end of described joint of mechanical arm is fixed on described underwater movable platform, and described camera and described light source are socketed in the other end of described joint of mechanical arm respectively, and described mechanical arm actuator is connected with described underwater control unit line with described mechanical arm coder.
Preferably, the global density of described underwater movable platform is greater than the density of working environment water body.
Preferably, described winch Position and attitude sensor is the combination of one or more in gyroscope, acceleration pick-up, three shaft inclination sensors, electronic compass, laser range sensor or sonac.
Preferably, described underwater movable platform Position and attitude sensor is one or more combination in gyroscope, acceleration pick-up, three shaft inclination sensors, electronic compass, laser range sensor or sonac.
Preferably, described interactive operation unit comprise respectively with the remote monitoring module of controller unit connection, manual control module and telltale.
Preferably, described remote monitoring module adopts one or more the combination in desk computer, notebook PC, industrial computer, panel computer or smart mobile phone.Preferably, manual control module adopts the fixed type control operation panel of portable control capsule and at least one button and indicator lamp.Preferably, remote monitoring module, manual control module and telltale adopt one or more be connected in GPRS, note, 3G network, 4G network, WLAN, wired internet, bluetooth, telephone wire, 232 null modem cables, 485 null modem cables, CAN or USB respectively with controller unit.
Based on technique scheme, the invention has the beneficial effects as follows: the mode that the present invention drives by adopting rope, control mobile platform to do under water to rise and parallel motion action, mechanical arm regulates camera among a small circle, realize controlling the mobile of underwater detecting robot, and then the pose of camera and light source is adjusted by the mechanical arm on underwater movable platform, obtain image clearly, realize the vision-based detection to underwater structure; Can avoid adopting screw propeller to make water body more muddy and the quality of image checking, thus final Detection results can be improved, improve the sensitivity that Underwater Imaging detects.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is Control system architecture schematic diagram of the present invention;
Fig. 3 is Subsea Control Systems structural representation of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows:
1. above water platform; 2. winch unit; 21. reels; 22. gear clusters; 23. winch motors; 24. winch Position and attitude sensors; 25. winch coders; 3. underwater movable platform; 30. underwater control unit; 31. mobile platform attitude sensors; 4. submarine mechanical arm unit; 40. mechanical arm actuators; 41. mechanical arm motors; 42. mechanical arm coders; 43. joint of mechanical arm; 51. cameras; 52. light sources; 6. power supply; 61. power-supply controller of electric; 7. controller unit; 8. interaction control unit; 81. remote monitoring modules; 82. manual control module; 83. telltales; 9. the water surface.
Detailed description of the invention
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, Figure 2 and Figure 3, a kind of rope drives underwater detecting robot, comprises at least one above water platform 1, winch unit 2, underwater movable platform 3, submarine mechanical arm unit 4, camera 51, light source 52, power supply 6, controller unit 7 and interaction control unit 8; Described above water platform 1 is positioned at the water surface more than 9, each described above water platform 1 is fixed with winch unit 2 described at least one, described winch unit 2 comprises reel 21, gear cluster 22, winch motor 23, winch Position and attitude sensor 24 and winch coder 25; Described reel 21 is connected to the side of described gear cluster 22, and described winch motor 23 is connected to the opposite side of described gear cluster 22; Described winch Position and attitude sensor 24 is fixedly connected with described above water platform 1, and described winch coder 25 is arranged on described winch motor 23 or described reel 21; Be connected by rope between described underwater movable platform 3 with described winch unit 2; Described underwater movable platform 3 is provided with a underwater control unit 30 and at least one group of mobile platform attitude sensor 31; One end of described submarine mechanical arm unit 4 is arranged on described underwater movable platform 3; Described camera 51 is socketed on the other end of described submarine mechanical arm unit 4 with described light source 52 respectively; Described underwater control unit 30 is fixed on described underwater movable platform 3, described submarine mechanical arm unit 4, camera 51, light source 52, mobile platform attitude sensor 31 and controller unit 7 respectively with described underwater control unit 30 connection; Described power supply 6 is connected with power-supply controller of electric 61, described power-supply controller of electric 61 respectively with underwater control unit 30 and controller unit 7 connection.
Preferred: described Waterborne movable platform 1 adopts the combination of one or more in ship, vehicle, fixed buildings or fixed spreader.
Preferred: described submarine mechanical arm unit 4 comprises mechanical arm actuator 40, mechanical arm motor 41, mechanical arm coder 42 and at least one joint of mechanical arm 43; One end of described joint of mechanical arm 43 is fixed on described underwater movable platform 3, described camera 51 and described light source 52 are socketed in the other end of described joint of mechanical arm 43 respectively, described mechanical arm actuator 40 and described mechanical arm coder 42 and described underwater control unit 30 connection.
Preferred: the global density of described underwater movable platform 3 is greater than the density of working environment water body.
Preferred: described winch Position and attitude sensor 24 is the combination of one or more in gyroscope, acceleration pick-up, three shaft inclination sensors, electronic compass, laser range sensor or sonac.
Preferred: described underwater movable platform Position and attitude sensor 31 is the combination of one or more in gyroscope, acceleration pick-up, three shaft inclination sensors, electronic compass, laser range sensor or sonac.
Preferred: described interactive operation unit 8 comprise respectively with the remote monitoring module 81 of controller unit 7 connection, manual control module 82 and telltale 83.
Preferred: described remote monitoring module 81 adopts one or more the combination in desk computer, notebook PC, industrial computer, panel computer or smart mobile phone.
Preferred: described manual control module 83 adopts the fixed type control operation panel of portable control capsule and at least one button and indicator lamp.
Preferred: remote monitoring module 81, manual control module 83 and telltale 83 adopt one or more be connected in GPRS, note, 3G network, 4G network, WLAN, wired internet, bluetooth, telephone wire, 232 null modem cables, 485 null modem cables, CAN or USB respectively with controller unit 7.
Principle of work and the operating process of described rope driving underwater detecting robot are as follows:
Above water platform 1 is fixing or mobile at the water surface more than 9, and by 3 winch unit 2, drive three ropes, three ropes are connected with underwater movable platform 3, control underwater movable platform 3 and do under water to rise, decline and parallel motion.
Controller unit 7 can obtain level attitude and the angled state of winch by the signal that winch Position and attitude sensor 24 transmits, meanwhile underwater movable platform Position and attitude sensor 31 sends the pose signal of underwater movable platform 3 to underwater control unit 30, the pose signal of underwater movable platform 3 is sent to controller unit 7 again by underwater control unit 30, controller unit 7 by the pose signal transmission of winch pose signal and underwater movable platform 3 to interactive operation unit 8, control signal is passed to controller unit 7 by interactive operation unit 8 by operator, then control command is sent to winch unit 2 and underwater control unit 30 by controller unit 7 respectively, thus realize the mode adopting rope driving, realize controlling the mobile of underwater detecting robot.
Light source 52 and camera 51 can be realized the rotation of certain limit by submarine mechanical arm unit 4, thus photograph more image.And then the image photographed or signal are passed to controller unit 7, image or signal transmission to interactive controlling platform 8, are finally shown and document image or other signals by interactive controlling platform 8 by controller unit 7.The device avoids and adopt screw propeller to drive underwater movable platform to cause water quality more muddy, be applicable in the poor water body of water quality, carry out underweater vision and detect operation.Thus final Detection results can be improved, improve the sensitivity that Underwater Imaging detects.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. rope drives a underwater detecting robot, it is characterized in that: comprise at least one above water platform (1), winch unit (2), underwater movable platform (3), submarine mechanical arm unit (4), camera (51), light source (52), power supply (6), controller unit (7) and interaction control unit (8);
Described above water platform (1) is positioned at more than the water surface (9), each described above water platform (1) is fixed with winch unit (2) described at least one, described winch unit (2) comprises reel (21), gear cluster (22), winch motor (23), winch Position and attitude sensor (24) and winch coder (25);
Described reel (21) is connected to the side of described gear cluster (22), described winch motor (23) is connected to the opposite side of described gear cluster (22), described winch Position and attitude sensor (24) is fixedly connected with described above water platform (1), and described winch coder (25) is arranged on described winch motor (23) or described reel (21);
Be connected by rope between described underwater movable platform (3) with described winch unit (2);
Described underwater movable platform (3) is provided with a underwater control unit (30) and at least one group of mobile platform attitude sensor (31);
One end of described submarine mechanical arm unit (4) is arranged on described underwater movable platform (3); Described camera (51) and described light source (52) are socketed on the other end of described submarine mechanical arm unit (4) respectively;
Described underwater control unit (30) is fixed on described underwater movable platform (3), described submarine mechanical arm unit (4), camera (51), light source (52), mobile platform attitude sensor (31) and controller unit (7) respectively with described underwater control unit (30) connection;
Described power supply (6) is connected with power-supply controller of electric (61), described power-supply controller of electric (61) respectively with underwater control unit (30) and controller unit (7) connection.
2. a kind of rope according to claim 1 drives underwater detecting robot, it is characterized in that, described Waterborne movable platform (1) adopts the combination of one or more in ship, vehicle, fixed buildings or fixed spreader.
3. a kind of rope according to claim 1 drives underwater detecting robot, it is characterized in that, described submarine mechanical arm unit (4) comprises mechanical arm actuator (40), mechanical arm motor (41), mechanical arm coder (42) and at least one joint of mechanical arm (43); One end of described joint of mechanical arm (43) is fixed on described underwater movable platform (3), described camera (51) and described light source (52) are socketed in the other end of described joint of mechanical arm (43) respectively, described mechanical arm actuator (40) and described mechanical arm coder (42) and described underwater control unit (30) connection.
4. a kind of rope according to claim 1 drives underwater detecting robot, and it is characterized in that, the global density of described underwater movable platform (3) is greater than the density of working environment water body.
5. a kind of rope according to claim 1 drives underwater detecting robot, it is characterized in that, described winch Position and attitude sensor (24) is gyroscope, the combination of one or more in acceleration pick-up, three shaft inclination sensors, electronic compass, laser range sensor or sonac.
6. a kind of rope according to claim 1 drives underwater detecting robot, it is characterized in that, described underwater movable platform Position and attitude sensor (31) is gyroscope, the combination of one or more in acceleration pick-up, three shaft inclination sensors, electronic compass, laser range sensor or sonac.
7. a kind of rope according to claim 1 drives underwater detecting robot, it is characterized in that, described interactive operation unit (8) comprise respectively with the remote monitoring module (81) of controller unit (7) connection, manual control module (82) and telltale (83).
8. a kind of rope according to claim 7 drives underwater detecting robot, it is characterized in that, described remote monitoring module (81) adopts one or more the combination in desk computer, notebook PC, industrial computer, panel computer or smart mobile phone.
9. a kind of rope according to claim 7 drives underwater detecting robot, it is characterized in that, described manual control module (83) adopts the fixed type control operation panel of portable control capsule and at least one button and indicator lamp.
10. a kind of rope according to claim 7 drives underwater detecting robot, it is characterized in that, remote monitoring module (81), manual control module (83) and telltale (83) adopt one or more be connected in GPRS, note, 3G network, 4G network, WLAN, wired internet, bluetooth, telephone wire, 232 null modem cables, 485 null modem cables, CAN or USB respectively with controller unit (7).
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| CN201510700519.5A CN105197206B (en) | 2015-10-23 | 2015-10-23 | A kind of rope drives underwater detecting robot |
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| CN201510700519.5A CN105197206B (en) | 2015-10-23 | 2015-10-23 | A kind of rope drives underwater detecting robot |
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| CN105197206B CN105197206B (en) | 2017-12-22 |
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Cited By (5)
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| CN106392536A (en) * | 2016-11-02 | 2017-02-15 | 上海航天设备制造总厂 | Cabin loading method of large overall equipment cabinet of space station working cabin |
| CN109501983A (en) * | 2018-11-20 | 2019-03-22 | 西安工业大学 | A kind of underwater actuators and its method |
| CN110712732A (en) * | 2019-10-23 | 2020-01-21 | 海风电气(江苏)有限公司 | Underwater diving equipment for ocean engineering |
| CN112362093A (en) * | 2020-08-10 | 2021-02-12 | 重庆大学 | Dam detection robot, detection system and detection method |
| CN113459126A (en) * | 2021-07-29 | 2021-10-01 | 河南大学 | Three-degree-of-freedom flexible cable parallel robot for underwater photography and adjusting method |
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| CN113459126A (en) * | 2021-07-29 | 2021-10-01 | 河南大学 | Three-degree-of-freedom flexible cable parallel robot for underwater photography and adjusting method |
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| CN105197206B (en) | 2017-12-22 |
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Effective date of registration: 20160722 Address after: Luo East Lake Development Zone 430074 Hubei city of Wuhan Province Yu Road No. 243 building of science and technology Applicant after: Wuhan Dragon technology limited liability company Address before: 430023, Wuhan Province, Jianghan District, Hubei Jianghan Economic Development Zone 0601 block wisdom building, 5 floor Applicant before: Extreme imaging technology (Wuhan) Co., Ltd. |
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Address after: Xinghu street Suzhou Industrial Park in Jiangsu Province, creative industry park 15-501 cutting unit Applicant after: Suzhou Jiao Visual Intelligent Technology Co Ltd Address before: Luo East Lake Development Zone 430074 Hubei city of Wuhan Province Yu Road No. 243 building of science and technology Applicant before: Wuhan Dragon technology limited liability company |
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Inventor after: Huang Fan Inventor after: Han Jiefei Inventor after: Zou Cheng Inventor after: Chu Ning Inventor before: Zou Cheng Inventor before: Han Jiefei Inventor before: Huang Fan |
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