CN106272469B - Underwater investigation positioning robot and working method, control system - Google Patents
Underwater investigation positioning robot and working method, control system Download PDFInfo
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- CN106272469B CN106272469B CN201610828998.3A CN201610828998A CN106272469B CN 106272469 B CN106272469 B CN 106272469B CN 201610828998 A CN201610828998 A CN 201610828998A CN 106272469 B CN106272469 B CN 106272469B
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- underwater robot
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000011835 investigation Methods 0.000 title abstract description 6
- 238000004891 communication Methods 0.000 claims abstract description 50
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 20
- 230000008859 change Effects 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 240000004343 Indigofera suffruticosa Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 208000016253 exhaustion Diseases 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of underwater investigation positioning robot and working method, control systems, wherein this underwater robot includes：Main body is equipped with power plant in the outer wall of the main body；One processor module is suitable for advancing under water to control underwater robot by controlling power plant；The underwater robot and its working method, control system of the present invention can improve the underwater traveling efficiency of underwater robot, and mode is drawn close by three stages substep, overcome sub-marine situations complexity, the work characteristics to have a wide reach meets underwater robot using three kinds of communication modes and completes convergence under different spacing.
Description
Technical field
The present invention relates to a kind of underwater investigation positioning robot and working method, control systems.
Background technology
21 century is the century of ocean, and the abundant energy that ocean is contained and resource are mankind's resource exhaustions on the ground
Situation under the important supply depended on for existence.Meanwhile 21 century is also the century intelligently equipped, the extensive use of intelligence system is big
The big efficiency for improving labour becomes the new highland of national strategy development.Then, it is not by intelligent application Yu Haiyang
The mediocre development trend doubted.Currently, the principal mode of underwater intelligent equipment is underwater robot, major function has exploration, acquisition,
Repair, capital construction, military and search and rescue etc..Seafari wherein is carried out for human development ocean using underwater robot, moves towards deep
Indigo plant has great significance.The stationkeeping ability of underwater robot is for submarine sampling simultaneously, the sides such as salvaging lost objects are retrieved a loss
Face has great significance.
The major function of the targeted underwater investigation positioning of working environment and emphasis in view of underwater robot.It answers first
What this was considered is limitation of the single underwater robot due to self-condition, can not rapidly and accurately find seabed sample or needs
The article salvaged or positioned.Then, multi-robot system has become only choosing.
With the development of the times, a kind of high efficiency, high-intelligentization, going out for the multi-robot system of high stability has been gesture
It must go.
Invention content
The object of the present invention is to provide a kind of underwater robot and its working methods, to improve underwater robot after investigation
Efficiency of advancing is marched in the water of destination.
In order to solve the above technical problem, the present invention provides a kind of underwater robots, including：Main body, in the main body
Outer wall is equipped with power plant；One processor module is suitable for advancing under water to control underwater robot by controlling power plant.
Further, the main body is in fusiformis；The power plant includes three propeller type electric motor thrusters, and is in 120 °
It is distributed in outer wall；The processor module is suitable for three propeller type electric motor thrusters of control and cooperates, to control underwater machine
Device people advances under water.
Further, it is equipped with ring-shaped guide rail around outer wall, the braced wing root of the propeller type electric motor thruster, which is equipped with, to be embedded in
The carriage of circular orbit；The processor module is suitable for driving propeller type electric motor thruster along annular by carriage
Guide rail moves, to change the angle between each propeller type electric motor thruster.
Further, the underwater robot further includes：Photographic device, the communication device being connected with processor module；It is described
Processor module identifies target by photographic device, and builds communication network by communication device to realize tracking and positioning；
The communication device includes mechanical wave communication module, sonar module and infrared module；Wherein mechanical wave communication module is suitable for production
The raw mechanical wave for telecommunication；Sonar module is suitable for generating the high-frequency ultrasonic for middle distance communication；And it is infrared
Wire module is suitable for generating the infrared signal for Near Field Communication.
Further, the underwater robot further includes：By several lithium battery groups battery pack in series, and for controlling
The charge and discharge control module of battery set charge/discharge processed；The outer wall of the main body is equipped with photovoltaic battery panel, and the photovoltaic battery panel
Output end is connected with the energization input of charge and discharge control module.
Another aspect, the present invention also provides a kind of working methods of the underwater robot.
The working method includes：It is advanced under water by controlling power plant with controlling underwater robot.
Further, the main body is in fusiformis；The power plant includes three propeller type electric motor thrusters, and is distributed in
Outer wall；The processor module is suitable for three propeller type electric motor thrusters of control and cooperates, to control underwater robot water
Lower traveling；And it is equipped with ring-shaped guide rail around outer wall, the braced wing root of the propeller type electric motor thruster is equipped with embedded in annular
The carriage of track；The processor module is suitable for driving propeller type electric motor thruster along ring-shaped guide rail by carriage
It is mobile, to change the angle between each propeller type electric motor thruster.
Further, when underwater robot is turned under water, the first propeller type electric motor thruster is used as turning fulcrum, the
Two, third propeller type electric motor thruster moves towards, and closes up, i.e., with the first propeller type electric motor thruster in main body
Mandrel is symmetrical arranged.
The third aspect, the present invention also provides a kind of underwater crowd cooperative control systems, to realize more underwaters
People constitutes underwater crowd's Collaborative Control group.
In order to solve the above-mentioned technical problem, this underwater crowd cooperative control system includes at least two underwaters
People.
Further, the underwater robot further includes：Photographic device, the communication device being connected with processor module；It is described
Processor module identifies target by photographic device, and builds communication network by communication device to realize tracking and positioning；
The communication device includes mechanical wave communication module, sonar module and infrared module；Wherein mechanical wave communication module is suitable for production
The raw mechanical wave for telecommunication；Sonar module is suitable for generating the high-frequency ultrasonic for middle distance communication；And it is infrared
Wire module is suitable for generating the infrared signal for Near Field Communication；And it is set as main after any underwater robot looks for target
Underwater robot convenes remaining underwater robot to be collected at main underwater robot by communication device.
The invention has the advantages that the underwater robot and its working method, control system of the present invention can be carried effectively
It is adjusted for rapid posture in the underwater traveling efficiency of underwater robot, water；And mode is also drawn close by three stages substep, is overcome
Sub-marine situations are complicated, and the work characteristics to have a wide reach using three kinds of communication modes meets underwater robot in different spacing
Lower completion convergence.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the underwater robot stereogram of the present invention；
Fig. 2 is the vertical view of the underwater robot of the present invention；
Fig. 3 is the partial view of the underwater robot of the present invention；
Fig. 4 is structural schematic diagram one after the propeller type electric motor thruster of the underwater robot of the present invention moves；
Fig. 5 is structural schematic diagram two after the propeller type electric motor thruster of the underwater robot of the present invention moves.
In figure：Main body 1, propeller type electric motor thruster 2, braced wing 201, ring-shaped guide rail 3, carriage 4, driven wheels
401, active wheels 402.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
As shown in Figures 1 to 5, the present embodiment 1 provides a kind of underwater robot, including：Main body 1, in the outer of the main body 1
Wall is equipped with power plant；One processor module is suitable for advancing under water to control underwater robot by controlling power plant.
The main body 1 is in fusiformis；The power plant includes three propeller type electric motor thrusters, and is distributed in 120 °
Outer wall；The processor module is suitable for three propeller type electric motor thrusters of control and cooperates, to control underwater robot water
Lower traveling.
Specifically, traveling mode includes but not limited to rise and fall, turn to, traversing, trim to the underwater robot under water, specifically
It advances as shown in table 1 with the correspondence of each propeller type electric motor thruster.
The mapping table that underwater robot is advanced with each propeller type electric motor thruster
In table 1, the first propeller type electric motor thruster is referred to as propeller one, and so on.
Preferably, turn to further increase in underwater robot traveling efficiency, such as reduction underwater robot traveling
Curved radius；It is equipped with ring-shaped guide rail 3 around outer wall, 201 root of braced wing of the propeller type electric motor thruster is equipped with embedded in annular
The carriage 4 of track；The processor module is suitable for driving propeller type electric motor thruster to lead along annular by carriage 4
Rail 3 moves (as shown in Fig. 3 arrows F1), to change the angle between each propeller type electric motor thruster.
Specifically, the carriage 4 includes：Driven wheels 401 in ring-shaped guide rail 3, and in main body 1
Active wheels 402 and the active wheels 402 driven and rotated by a direct current generator, and the direct current generator is by processor module
Control；Preferably, the traveling track of the active wheels 402 is located at 1 inner wall of main body, in the active wheels 402 at least provided with
One spreadet spreadet wheel, and traveling track is equipped with the locking tooth coordinated with the spreadet spreadet wheel, after direct current generator stalls, spreadet spreadet wheel
Coordinate with locking tooth, the position of carriage 4, propeller type electric motor thruster is locked.
Such as when underwater robot is turned under water, the first propeller type electric motor thruster is as turning fulcrum, second, the
Three propeller type electric motor thrusters move towards, and close up (as shown in arrow F2 in Fig. 4 and arrow F3), i.e., with the first propeller
Formula electric motor thruster is with the setting substantially symmetrical about its central axis of main body 1；Wherein, the first propeller type electric motor thruster does not turn or inverts,
Two propeller type electric motor thrusters of remaininging rotate forward, and then realize underwater robot minor-circle turn, reduce turning radius, reduce energy
Consumption.
As a kind of form turned under water, as shown in figure 5, when underwater robot is adjusted to horizontal attitude by perpendicular attitude
When (as shown in arrow F4), the first propeller type electric motor thruster as turning fulcrum, second, third propeller type motor promote
Device moves towards, and closes up, i.e., with the first propeller type electric motor thruster with the setting substantially symmetrical about its central axis of main body 1；Wherein, first
Propeller type electric motor thruster inverts, remaining two propeller type electric motor thruster rotates forward, and then realizes the quick appearance of underwater robot
State adjusts, and saves electrical demand when pose adjustment.
As a kind of optional embodiment of underwater robot, the underwater robot further includes：With processor module
Connected photographic device, communication device；The processor module identifies target by photographic device, and passes through communication device structure
Communication network is built to realize tracking and positioning；Specifically, lash ship is by receiving the communication device of each underwater robot to corresponding water
Lower robot is positioned.
Specifically, the communication mode of this underwater robot such as, but not limited to draws close mode using three stages substep, that is, exist
Two robots use three kinds of communication technologys during gradually drawing close, and have the characteristics of high efficiency, high-intelligentization, high stability.
It is adaptable logical using three kinds specifically, complicated process of drawing close is divided into three different phases according to three kinds of communication modes
News mode can make more underwater robots close to target and cooperate with positioned (work alternatively, keep a part to target into
End of line with and uninterruptedly positioned, another part upper floating charging in due course).
Therefore, as a kind of optional embodiment of communication device, the communication device includes mechanical wave communication module, sound
Module and infrared module；Wherein mechanical wave communication module is suitable for generating the mechanical wave for telecommunication；Sonar module
Suitable for generating the high-frequency ultrasonic for middle distance communication；And infrared module is suitable for generating for the infrared of Near Field Communication
Signal.
In the present embodiment, since the sub-marine situations residing for underwater robot are complicated, and the work that working region haves a wide reach
Make feature, the distance in the two underwater human world drawn close is often long or short rather than relatively-stationary, not
Under same distance condition, selection is most suitable for it and mutually draws close until entering the mode of coordinated distance.
Specifically, when two underwater robots are at a distance of such as, but not limited to 100m or more, it is underwater by mechanical wave control two
Robot is drawn close, and when robot is drawn close to 50m or less, the refined orientation of two underwater robots is determined by high-frequency ultrasonic,
It is further drawn close again；When the distance of two underwater robots is less than 50cm, carry out following docking by infrared signal, with structure
At underwater crowd's Collaborative Control group.
The underwater robot further includes：By several lithium battery groups battery pack in series, and for controlling battery
The charge and discharge control module (such as, but not limited to using LT1513) of group charge and discharge；The outer wall of the main body 1 is equipped with photovoltaic cell
Plate, and the output end of the photovoltaic battery panel is connected with the energization input of charge and discharge control module.
The processor module such as, but not limited to uses ARM9 processors.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 additionally provides a kind of working method of underwater robot.
This working method includes：It is advanced under water by controlling power plant with controlling underwater robot.
Wherein, as described in Example 1 about the structure of underwater robot and its working method.
A kind of optional working method as underwater robot.
When underwater robot is turned under water, the first propeller type electric motor thruster is as turning fulcrum, second, third spiral shell
Rotary propeller type electric motor thruster moves towards, and closes up, i.e., with the first propeller type electric motor thruster with the substantially symmetrical about its central axis of main body 1
Setting.
Embodiment 3
On the basis of embodiment 1, the present embodiment 3 provides a kind of underwater crowd cooperative control system,
The underwater crowd cooperative control system includes at least two underwater robots as described in Example 1.
About underwater crowd's cooperative control system, specifically, being set as after any underwater robot looks for target
Main underwater robot convenes remaining underwater robot to be collected at main underwater robot by communication device.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (7)
1. a kind of underwater robot, which is characterized in that including：
Main body is equipped with power plant in the outer wall of the main body；
One processor module is suitable for advancing under water to control underwater robot by controlling power plant；
The main body is in fusiformis；
The power plant includes three propeller type electric motor thrusters, and is distributed in outer wall in 120 °；
The processor module is suitable for three propeller type electric motor thrusters of control and cooperates, underwater to control underwater robot
It advances；
It is equipped with ring-shaped guide rail around outer wall, the braced wing root of the propeller type electric motor thruster is equipped with the cunning embedded in circular orbit
Dynamic device；
The processor module is suitable for driving propeller type electric motor thruster to move along ring-shaped guide rail by carriage, to change
Angle between each propeller type electric motor thruster.
2. underwater robot according to claim 1, which is characterized in that the underwater robot further includes：With processor
The connected photographic device of module, communication device；
The processor module identifies target by photographic device, and
Communication network is built to realize tracking and positioning by communication device；
The communication device includes mechanical wave communication module, sonar module and infrared module；Wherein
Mechanical wave communication module is suitable for generating the mechanical wave for telecommunication；
Sonar module is suitable for generating the high-frequency ultrasonic for middle distance communication；And
Infrared module is suitable for generating the infrared signal for Near Field Communication.
3. underwater robot according to claim 2, which is characterized in that the underwater robot further includes：
By several lithium battery groups battery pack in series, and the charge and discharge control module for controlling battery set charge/discharge；
The outer wall of the main body is equipped with photovoltaic battery panel, and the power supply of the output end of the photovoltaic battery panel and charge and discharge control module
Input terminal is connected.
4. a kind of working method of underwater robot as described in claim 1, which is characterized in that
It is advanced under water by controlling power plant with controlling underwater robot.
5. the working method of underwater robot according to claim 4, which is characterized in that
When underwater robot is turned under water, the first propeller type electric motor thruster is as turning fulcrum, second, third propeller
Formula electric motor thruster moves towards, and closes up, i.e.,
With the first propeller type electric motor thruster with the setting substantially symmetrical about its central axis of main body.
6. a kind of underwater crowd cooperative control system, which is characterized in that including at least two water as described in claim 1
Lower robot.
7. underwater crowd cooperative control system according to claim 6, which is characterized in that the underwater robot is also
Including：Photographic device, the communication device being connected with processor module；
The processor module identifies target by photographic device, and
Communication network is built to realize tracking and positioning by communication device；
The communication device includes mechanical wave communication module, sonar module and infrared module；Wherein
Mechanical wave communication module is suitable for generating the mechanical wave for telecommunication；
Sonar module is suitable for generating the high-frequency ultrasonic for middle distance communication；
Infrared module is suitable for generating the infrared signal for Near Field Communication；And
It is set as main underwater robot after any underwater robot looks for target, remaining underwater is convened by communication device
People is collected at main underwater robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828998.3A CN106272469B (en) | 2016-09-18 | 2016-09-18 | Underwater investigation positioning robot and working method, control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828998.3A CN106272469B (en) | 2016-09-18 | 2016-09-18 | Underwater investigation positioning robot and working method, control system |
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| Publication Number | Publication Date |
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| CN106272469A CN106272469A (en) | 2017-01-04 |
| CN106272469B true CN106272469B (en) | 2018-10-23 |
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| CN201610828998.3A Expired - Fee Related CN106272469B (en) | 2016-09-18 | 2016-09-18 | Underwater investigation positioning robot and working method, control system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584485A (en) * | 2017-02-20 | 2017-04-26 | 陶云霞 | Underwater cleaning robot |
| CN108415008A (en) * | 2018-01-29 | 2018-08-17 | 鲁东大学 | A kind of wireless ocean acoustic field monitoring positioning device |
| CN114260924B (en) * | 2022-03-01 | 2022-05-03 | 广东海洋大学 | Underwater mechanical arm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101475055A (en) * | 2009-01-21 | 2009-07-08 | 上海广茂达伙伴机器人有限公司 | Underwater robot |
| CN103287557A (en) * | 2013-05-31 | 2013-09-11 | 深圳市优必选科技有限公司 | Novel underwater robot movement control device |
| CN103419915A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Underwater robot device for shallow water observation |
| CN103885404A (en) * | 2014-03-06 | 2014-06-25 | 青岛罗博飞海洋技术有限公司 | Method for controlling four-propeller thruster of underwater robot |
| CN104002942A (en) * | 2014-06-09 | 2014-08-27 | 北京理工大学 | Micro autonomous submersible |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101264839B1 (en) * | 2011-05-20 | 2013-05-15 | 최린 | Under water moving apparatus |
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2016
- 2016-09-18 CN CN201610828998.3A patent/CN106272469B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101475055A (en) * | 2009-01-21 | 2009-07-08 | 上海广茂达伙伴机器人有限公司 | Underwater robot |
| CN103287557A (en) * | 2013-05-31 | 2013-09-11 | 深圳市优必选科技有限公司 | Novel underwater robot movement control device |
| CN103419915A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Underwater robot device for shallow water observation |
| CN103885404A (en) * | 2014-03-06 | 2014-06-25 | 青岛罗博飞海洋技术有限公司 | Method for controlling four-propeller thruster of underwater robot |
| CN104002942A (en) * | 2014-06-09 | 2014-08-27 | 北京理工大学 | Micro autonomous submersible |
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