CN105775073A - Modular underwater teleoperator - Google Patents
Modular underwater teleoperator Download PDFInfo
- Publication number
- CN105775073A CN105775073A CN201610152688.4A CN201610152688A CN105775073A CN 105775073 A CN105775073 A CN 105775073A CN 201610152688 A CN201610152688 A CN 201610152688A CN 105775073 A CN105775073 A CN 105775073A
- Authority
- CN
- China
- Prior art keywords
- teleoperator
- sonar
- main frame
- underwater
- under
- Prior art date
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Abstract
The invention relates to a modular underwater teleoperator. The modular underwater teleoperator comprises a main frame, a main watertight compartment, height measurement sonar, horizontal propellers, a vertical propeller, a water sound positioning transponder, buoyant materials, an optical fiber and electronic compass integrated sensor combined top, a depth gauge, front-view image sonar and an underwater video camera and further comprises an auxiliary frame and multi-beam front-view sonar installed on the auxiliary frame, wherein the main watertight compartment, the height measurement sonar, the horizontal propellers, the vertical propeller, the water sound positioning transponder, the buoyant materials, the optical fiber and the electronic compass integrated sensor combined top, the depth gauge, the front-view image sonar and the underwater video camera are installed on the main frame The modular underwater teleoperator is a multi-module underwater detection robot which has completed functions and advanced technical indexes, and has better reliability; the modular underwater teleoperator is provided with a frame structure which can be re-assembled, so that different detecting instrument modules are adopted according to different detection requirements. By the adoption of the modular underwater teleoperator, objects on the surface of a seabed can be detected, and objects buried below the seabed can also be detected.
Description
Technical field
The present invention relates to a kind of underwater robot, be specifically related to teleoperator under a kind of modular water.
Background technology
Underwater robot, also referred to as unmanned remotely controlled submersible vehicle, is a kind of limit operation robot worked under water.
Underwater environment is badly dangerous, and the diving depth of people is limited, so underwater robot has become the important tool of exploitation ocean.
Underwater robot is commonly equipped with the devices such as Sonar system, video camera, illuminating lamp and mechanical arm, it is provided that real-time video, sonar image, mechanical arm can pick up weight, and underwater robot is used widely in fields such as oil development, maritime affair law enforcement evidence obtaining, scientific research and military affairs.
But underwater robot of the prior art disadvantageously, structure is excessively complicated, configuration is advanced not, does not have reconfigurability and expandability, produce, installation cost too high.
Summary of the invention
It is an object of the invention to for deficiency of the prior art, it is provided that teleoperator under the modular water that a kind of simple in construction, configuration are advanced.
For achieving the above object, the invention discloses following technical scheme:
Teleoperator under a kind of modular water, including
Main frame and be arranged on the main watertight compartment on main frame, survey high sonar, horizontal propeller, vertical pusher, hydrolocation transponder, buoyant material, optical fiber and electronic compass combination sensor combination gyro, depth gauge, forward sight image sonar and Underwater Camera and
Sub-frame and be arranged on the multi-beam Forward-looking Sonar on sub-frame；
Described sub-frame is arranged on main frame bottom；Include power supply, information processing and communication in described main watertight compartment and advance driving equipment；Described horizontal propeller is connected with main watertight compartment by cable with vertical pusher, to obtain required power and control signal；The high sonar of described survey, hydrolocation transponder, optical fiber combine gyro, depth gauge, forward sight image sonar, Underwater Camera and multi-beam Forward-looking Sonar with electronic compass combination sensor and are connected information processing and the communication system of main watertight compartment by network interface or serial ports.
Further, the model of described multi-beam Forward-looking Sonar is R2Sonic2024.
Further, described Underwater Camera is the Underwater Camera of rotatable 360 °.
Further, described Underwater Camera is provided with LED.
Further, described buoyant material is arranged on main frame top, and at vertical pusher place, hydrolocation transponder place and optical fiber and electronic compass combination sensor place be reserved with perforate.
Further, on the gusset of the bottom that described main watertight compartment is arranged in main frame by bolt.
Further, described horizontal propeller is arranged on main frame column by hinge and connects propelling driving equipment；Vertical pusher is installed on main frame and connects control device.
Further, described hydrolocation transponder is arranged on main frame top the perforate reserved through buoyant material.
Further, described main frame and sub-frame material are polypropylene material.
Teleoperator under a kind of modular water disclosed by the invention, has the beneficial effects that: be the multimode underwater detection robot that a function is the most complete, technical specification is advanced, have better reliability；There is reconstitutable frame structure, detect demand for difference, adopt different detection instrument module.Both detectable at surface, seabed object, the detectable object being buried in below seabed again.
Accompanying drawing explanation
Fig. 1 is the right view of the present invention,
Fig. 2 is the front view of the present invention,
Fig. 3 is the top view of the present invention,
Description of reference numerals:
1, buoyant material 2, main frame 3, main watertight compartment 4, horizontal propeller
5, Underwater Camera 6, forward sight image sonar 7, sub-frame
8, hydrolocation transponder 9, depth gauge
10, high sonar 11, multi-beam Forward-looking Sonar are surveyed
12, vertical pusher 13, optical fiber and electronic compass combination sensor combination gyro
Detailed description of the invention
Below in conjunction with embodiment and with reference to accompanying drawing, the invention will be further described.
Refer to Fig. 1.Teleoperator under a kind of modular water disclosed by the invention, including:
Main frame 2 and be arranged on the main watertight compartment 3 on main frame 2, survey high sonar 10, horizontal propeller 4, vertical pusher 12, hydrolocation transponder 8, buoyant material 1, optical fiber and electronic compass combination sensor combination gyro 13, depth gauge 9, forward sight image sonar 6 and rotatable 360 ° Underwater Camera 5 and
Sub-frame 7 and be arranged on the multi-beam Forward-looking Sonar 11 on sub-frame 7；
Described sub-frame 7 is arranged on main frame 2 bottom；Include power supply, information processing and communication in described main watertight compartment 3 and advance driving equipment；Described horizontal propeller 4 is connected with main watertight compartment 3 by cable with vertical pusher 12, to obtain required power and control signal；Each instrument and equipment, according to the Power Level of each instrument and equipment and power demand, is powered by power-supply system by watertight connector；The high sonar of described survey 10, hydrolocation transponder 8, optical fiber and electronic compass combination sensor are combined gyro 13, depth gauge 9, forward sight image sonar 6, Underwater Camera 5 and multi-beam forward sight sound 11 and receive the information processing and the communication system that are connected main watertight compartment 3 by network interface or serial ports.Information is uploaded by umbilical cables or parameter tuning control instruction that reception is assigned and motion command after being undertaken collecting by main watertight compartment 3, processed.
In the present embodiment, the model of described multi-beam Forward-looking Sonar 11 is R2Sonic2024.
In the present embodiment, described Underwater Camera 5 is the Underwater Camera of rotatable 360 °.
In the present embodiment, described Underwater Camera 5 is provided with LED.
In the present embodiment, described buoyant material 1 is arranged on main frame 2 top, and at vertical pusher place, hydrolocation transponder 8 place and optical fiber and electronic compass combination sensor combination gyro 11 place be reserved with perforate.
In the present embodiment, on the gusset of the bottom that described main watertight compartment 3 is arranged in main frame 2 by bolt.
In the present embodiment, described horizontal propeller 4 is arranged on main frame column by hinge and connects propelling driving equipment；Vertical pusher 12 is installed on main frame 2 and connects control device.
In the present embodiment, described hydrolocation transponder 8 is arranged on main frame 2 top the perforate reserved through buoyant material 1.
In the present embodiment, described main frame 2 and sub-frame 7 material are polypropylene material.
The present invention is the multimode underwater detection robot that a function is the most complete, technical specification is advanced, has better reliability；There is reconstitutable frame structure, detect demand for difference, adopt different detection instrument module.Both detectable at surface, seabed object, the detectable object being buried in below seabed again.
The above is only the preferred embodiment of the present invention, is not intended to limit；Should be understood that, although the present invention being described in detail with reference to the various embodiments described above, it will be understood by those within the art that, the technical scheme described in the various embodiments described above still can be modified by it, or wherein some or all of technical characteristic carries out equivalent replacement；And these amendments and replacement, do not make the essence of corresponding technical scheme depart from the scope of various embodiments of the present invention technical scheme.
Claims (9)
1. teleoperator under a modular water, it is characterised in that include
Main frame and be arranged on the main watertight compartment on main frame, survey high sonar, horizontal propeller, vertical pusher, hydrolocation transponder, buoyant material, optical fiber and electronic compass combination sensor combination gyro, depth gauge, forward sight image sonar and Underwater Camera and
Sub-frame and be arranged on the multi-beam Forward-looking Sonar on sub-frame；
Described sub-frame is arranged on main frame bottom；Include power supply, information processing and communication in described main watertight compartment and advance driving equipment；Described horizontal propeller is connected with main watertight compartment by cable with vertical pusher, to obtain required power and control signal；The high sonar of described survey, hydrolocation transponder, optical fiber combine gyro, depth gauge, forward sight image sonar, Underwater Camera and multi-beam Forward-looking Sonar with electronic compass combination sensor and are connected information processing and the communication system of main watertight compartment by network interface or serial ports.
2. teleoperator under a kind of modular water according to claim 1, it is characterised in that the model of described multi-beam Forward-looking Sonar is R2Sonic2024.
3. teleoperator under a kind of modular water according to claim 1, it is characterised in that described Underwater Camera is the Underwater Camera of rotatable 360 °.
4. teleoperator under a kind of modular water according to claim 3, it is characterised in that described Underwater Camera is provided with LED.
5. teleoperator under a kind of modular water according to claim 1, it is characterized in that, described buoyant material is arranged on main frame top, and at vertical pusher place, hydrolocation transponder place and optical fiber and electronic compass combination sensor place be reserved with perforate.
6. teleoperator under a kind of modular water according to claim 1, it is characterised in that on the gusset of the bottom that described main watertight compartment is arranged in main frame by bolt.
7. teleoperator under a kind of modular water according to claim 1, it is characterised in that described horizontal propeller is arranged on main frame column by hinge and connects propelling driving equipment；Vertical pusher is installed on main frame and connects control device.
8. teleoperator under a kind of modular water according to claim 1, it is characterised in that described hydrolocation transponder is arranged on main frame top the perforate reserved through buoyant material.
9. teleoperator under a kind of modular water according to claim 1, it is characterised in that described main frame and sub-frame material are polypropylene material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152688.4A CN105775073A (en) | 2016-03-17 | 2016-03-17 | Modular underwater teleoperator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152688.4A CN105775073A (en) | 2016-03-17 | 2016-03-17 | Modular underwater teleoperator |
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| CN105775073A true CN105775073A (en) | 2016-07-20 |
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| CN201610152688.4A Pending CN105775073A (en) | 2016-03-17 | 2016-03-17 | Modular underwater teleoperator |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
| CN106741761A (en) * | 2016-11-25 | 2017-05-31 | 浙江大学 | One kind has cameras people under cable remote-controlled water |
| CN106772395A (en) * | 2016-12-01 | 2017-05-31 | 台山核电合营有限公司 | A kind of nuclear plant water intaking tunnel Underwater Imaging detection means |
| CN107340777A (en) * | 2016-12-06 | 2017-11-10 | 北京臻迪科技股份有限公司 | A kind of underwater unmanned boat control system and method |
| CN108061577A (en) * | 2017-12-29 | 2018-05-22 | 浙江省水利水电勘测设计院 | A kind of pressure water conveyer tunnel intelligent detection device |
| WO2019029089A1 (en) * | 2017-08-11 | 2019-02-14 | 江苏科技大学 | Observation type remote operated vehicle |
| CN109458992A (en) * | 2018-12-13 | 2019-03-12 | 浙江建工水利水电建设有限公司 | The detection device and application method of underwater punching hole range and depth |
| CN109941409A (en) * | 2019-04-19 | 2019-06-28 | 广州大学 | A kind of sized underwater observation robot and control method |
| CN110194254A (en) * | 2019-05-08 | 2019-09-03 | 泰州市柯普尼通讯设备有限公司 | Ocean communicates location navigation gripper equipment |
| CN111147139A (en) * | 2019-12-24 | 2020-05-12 | 广东省半导体产业技术研究院 | Remote control unmanned submersible, underwater visible light communication system and underwater visible light communication automatic alignment method |
| WO2020144501A1 (en) * | 2019-01-10 | 2020-07-16 | Universidad Simon Bolivar | Engine adjustment system for remotely operated submarine vehicles, for using engine thrust |
| CN112550644A (en) * | 2020-11-20 | 2021-03-26 | 山东科技大学 | Water-spraying type underwater robot based on multi-beam forward-looking sonar |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741761A (en) * | 2016-11-25 | 2017-05-31 | 浙江大学 | One kind has cameras people under cable remote-controlled water |
| CN106772395A (en) * | 2016-12-01 | 2017-05-31 | 台山核电合营有限公司 | A kind of nuclear plant water intaking tunnel Underwater Imaging detection means |
| CN107340777A (en) * | 2016-12-06 | 2017-11-10 | 北京臻迪科技股份有限公司 | A kind of underwater unmanned boat control system and method |
| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
| WO2019029089A1 (en) * | 2017-08-11 | 2019-02-14 | 江苏科技大学 | Observation type remote operated vehicle |
| CN108061577B (en) * | 2017-12-29 | 2024-02-20 | 浙江省水利水电勘测设计院 | Intelligent detection device for pressurized water delivery tunnel |
| CN108061577A (en) * | 2017-12-29 | 2018-05-22 | 浙江省水利水电勘测设计院 | A kind of pressure water conveyer tunnel intelligent detection device |
| CN109458992A (en) * | 2018-12-13 | 2019-03-12 | 浙江建工水利水电建设有限公司 | The detection device and application method of underwater punching hole range and depth |
| WO2020144501A1 (en) * | 2019-01-10 | 2020-07-16 | Universidad Simon Bolivar | Engine adjustment system for remotely operated submarine vehicles, for using engine thrust |
| CN109941409A (en) * | 2019-04-19 | 2019-06-28 | 广州大学 | A kind of sized underwater observation robot and control method |
| CN110194254A (en) * | 2019-05-08 | 2019-09-03 | 泰州市柯普尼通讯设备有限公司 | Ocean communicates location navigation gripper equipment |
| CN111147139A (en) * | 2019-12-24 | 2020-05-12 | 广东省半导体产业技术研究院 | Remote control unmanned submersible, underwater visible light communication system and underwater visible light communication automatic alignment method |
| CN112550644A (en) * | 2020-11-20 | 2021-03-26 | 山东科技大学 | Water-spraying type underwater robot based on multi-beam forward-looking sonar |
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Application publication date: 20160720 |