CN106477008A - A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform - Google Patents
A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform Download PDFInfo
- Publication number
- CN106477008A CN106477008A CN201611055918.1A CN201611055918A CN106477008A CN 106477008 A CN106477008 A CN 106477008A CN 201611055918 A CN201611055918 A CN 201611055918A CN 106477008 A CN106477008 A CN 106477008A
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- CN
- China
- Prior art keywords
- mechanical hand
- fairing
- framework
- underwater
- streamlined
- 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
- 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
- B63C11/49—Floating structures with underwater viewing devices, e.g. with windows ; Arrangements on floating structures of underwater viewing devices, e.g. on boats
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/04—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
Abstract
The present invention provides a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies, it is related to a kind of underwater robot platform, belong to underwater robot field, including framework, fairing, battery compartment, control storehouse, propulsion system, motion perception system, underwater vision sensory perceptual system and two mechanical hands, fairing covers on framework, battery compartment is arranged on the bottom of fairing, storehouse is controlled to be arranged in framework, described underwater vision system and described motion perception system are installed in the front end of described fairing, described propulsion system is arranged on fairing, two described mechanical hands are arranged on framework.The present invention is the platform that can be realized by the coordination exercise of underwater robot and mechanical hand in unstructured moving grids to the autonomous, stable of target and high accuracy operation.
Description
Technical field
The present invention relates to a kind of underwater robot platform, the streamlined AUTONOMOUS TASK underwater robot of more particularly, to a kind of three bodies
Platform, belongs to underwater robot field.
Background technology
Substantial amounts of living resources and mineral resources are contained in seabed, but complicated, dangerous environments such as subsea is opened to human development
Send out ocean, propose huge challenge using ocean, on this basis, underwater robot just arises at the historic moment.Compare and have cable
Underwater robot, untethered autonomous underwater robot has that range of activity is wide, control accuracy is high, need not prop up professional and expensive lash ship
Hold, can be the important directions of underwater robot research in complicated unstructured moving grids the advantages of operation.
At present, diver still plays topmost effect in engineering and operation under water, but with depth of implements not
Disconnected increase, the efficiency of diver's work and time are more and more lower, and job costs and danger are continuously increased.Patent documentation
The water that " a kind of underwater performance robot C N103303449A " and " multi-functional underwater working device CN202379073U " is related to
Although lower Work robot also has certain performance capacity, it is mainly wheeled robot system conventional, can be in nuclear power station etc.
Specific underwater environment carries out reliable operation, but is difficult to be commonly used to navigation and the operation of destructuring environments such as subsea.Patent literary composition
Offer " underwater performance robot and its method of work CN104960652A " and " unmanned operation aquaculture robot under water
The underwater robot that CN104813975A " is related to is mainly Work robot under open-shelf remote-controlled water, and it is mainly characterized by grasping
Make personnel, in surface mother ship, underwater robot is remotely controlled with operation, sensor information, control instruction and the energy pass through umbilical cables
Realize the transmission between underwater carrier and surface mother ship, the operation of underwater robot needs the lash ship of specialty to support, operating cost
Height, job area is relatively limited, and homework precision depends entirely on the proficiency level of operator, and operation for a long time easily causes
The fatigue of operator.
The present invention devises a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies, and robot passes through underwater vision system
The distance between system autonomous classification operative goalies, and measure with operative goalies, realized to robot by motion perception sensor
With the position and attitude feedback of mechanical hand, realize the AUTONOMOUS TASK of underwater robot by the motion of mechanical hand and robot.
Content of the invention
The invention aims to providing a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies, it is can be non-
Pass through underwater robot in structured environment and the coordination exercise of mechanical hand is realized to the autonomous, stable of target and high accuracy operation
Platform.
The object of the present invention is achieved like this：Including framework (1), fairing (3), battery compartment (10), control storehouse
(11), propulsion system, motion perception system, underwater vision sensory perceptual system and two mechanical hands (9), described fairing (3)
Cover on framework (1), battery compartment (10) has two and is symmetrically mounted on the bottom of fairing (3), control storehouse (11) to set
Put in framework (1), before described underwater vision system and described motion perception system are installed in described fairing (3)
End, described propulsion system is arranged on fairing (3), and two mechanical hands (9) are arranged on framework (1).
Present invention additionally comprises such some architectural features：
1. it is vertical that propulsion system described in includes two main propelling screws (12), a side propelling screws (7) and four
Propelling screws (8), two main propelling screws (12) are symmetrically mounted on the rear end of fairing (3), side propelling screws
(7) it is arranged on the lower surface of fairing (3) front end, the lower surface of fairing (3) front end and the lower surface of rear end divide
Respectively it is not arranged with two vertical thrust propellers (8)；The upper surface of described fairing (3) is provided with suspension centre (2).
2. underwater vision sensory perceptual system described in includes the front end binocular vision system (4) being arranged in framework (1) and monocular
Submerged color video camera (6), be arranged on fairing (3) lower surface underwater luminaire (13).
3. motion perception system described in includes the magnetic compass being arranged in control storehouse and depth gauge, is arranged on framework Inner Front End
Acoustic Doppler instrument (5).
4. each mechanical hand include being sequentially connected mechanical hand shoulder (14), mechanical hand arm (15), mechanical hand ancon (16),
Mechanical hand forearm (17), the wrist (19) of mechanical hand, the paw (18) of mechanical hand, mechanical hand shoulder (14) passes through underwater electrical connector
(20) it is connected with framework (1).
Compared with prior art, the invention has the beneficial effects as follows：The present invention can pass through under water in unstructured moving grids
The coordination exercise of robot and mechanical hand is realized to the autonomous, stable of target and high accuracy operation, the present invention have autonomy strong,
The advantages of operating cost is low, job area is wide, homework precision is high；The present invention passes through underwater vision system autonomous classification operation mesh
The distance between mark, and measure with operative goalies, the position appearance to robot and mechanical hand is realized by motion perception sensor
State is fed back, and realizes the AUTONOMOUS TASK of underwater robot by the motion of mechanical hand and robot.
Brief description
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the population structure top view of the present invention；
Fig. 3 is the population structure side view of the present invention；
Fig. 4 is the front view of population structure of the present invention；
Fig. 5 is the population structure rearview of the present invention；
Fig. 6 is the restoring moment computational methods schematic diagram of the present invention；
Fig. 7 is the AUTONOMOUS TASK process sketch of the present invention；
Fig. 8 is the axonometric drawing of mechanical hand；
Fig. 9 is the partial sectional view of paw；
Figure 10 is the structural representation of manipulator joint part.
Specific embodiment
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.
Embodiment one：In conjunction with Fig. 1 to Figure 10, the present invention include framework 1, fairing 3, battery compartment 10, control storehouse 11,
Propulsion system, motion perception system, underwater vision sensory perceptual system and two mechanical hands 9, fairing 3 covers on framework 1,
Battery compartment 10 is arranged on the bottom of fairing 3, controls storehouse 11 to be arranged in framework 1, described underwater vision system and described
Motion perception system is installed in the front end of described fairing 3, and described propulsion system is arranged on fairing 3, and two
Individual described mechanical hand 9 is arranged on framework 1, is additionally provided with the cabin 41 putting buoyant material in framework.
In order to ensure the neutral buoyancy state of underwater robot in the present embodiment, remaining space is by for adding buoyancy
Material.
In the present embodiment, two battery compartments 10 are set in the bottom of fairing 3, the not navigation of only platform provides and makees
The industry energy, and improve the first metancenter height of underwater robot by reducing robot entirety center of gravity, and then improve underwater
The stability of people's operation.
Restoring moment computing formula is(wherein " Δ " represent displacement,Expression first metancenter height,
" φ " represents angle of inclination), bigger by restoring moment when just metancenter height is bigger knowable to formula, therefore, carried by lowering the center of gravity
High just metancenter higher position can increase the stability of underwater robot.
Embodiment two：Based on above-described embodiment, described pushing system includes two main 12, side propulsions of propelling screws
Propeller 7 and four vertical thrust propellers 8, two main propelling screws 12 are arranged on the rear end of fairing 3, and side advances
Propeller 7 is arranged on the lower surface of fairing 3 front end, and the lower surface of fairing 3 front end and the lower surface of rear end divide
It is not respectively provided with two vertical thrust propellers 8；The upper surface of described fairing 3 is provided with suspension centre 2.
The propulsion system of the present embodiment includes two main propelling screws 12, side propelling screws 7 and four vertical
Propelling screws 8, mainly using two main propelling screws 12 of stern, AUTONOMOUS TASK machine under water during operation during long-distance navigation
Device people's platform switches to weak motor-driven coordinative operation Pose Control pattern；By vertical thrust propeller 8, main propelling screws 12
Realize the Pose Control of space six-freedom degree with side propelling screws 7, realize the coordination exercise of robot and mechanical hand.Other
Composition and annexation are identical with specific embodiment one.
Embodiment three：Based on above-described embodiment, described underwater vision sensory perceptual system is colored by binocular vision system 4, monocular
Underwater Camera 6, underwater luminaire 13 form, and binocular vision system 4, monocular submerged color video camera 6 are arranged in framework 1
Front end, underwater luminaire 13 is arranged on the lower surface of fairing 3.
The identification of submarine target is mainly responsible for by monocular color video camera 6, and binocular vision system 4 is mainly used in finding range and fixed
Position, underwater vision sensory perceptual system is mainly responsible for identification, range finding and the positioning of submarine target.And propulsion system includes two and promotes mainly,
One side pushes away to hang down with four and pushes away, and is mainly promoted mainly using two of stern, AUTONOMOUS TASK underwater during operation during long-distance navigation
People's platform switches to weak motor-driven coordinative operation Pose Control pattern, pushes away, promotes mainly to push away with side and realize six, space freedom by hanging down
The Pose Control of degree, realizes the coordination exercise of robot and mechanical hand.
Monocular color video camera mainly be responsible for submarine target identification, identification success after, AUTONOMOUS TASK underwater robot to
Target is advanced, and following the tracks of target makes target enter the range of observation of binocular vision video camera, by binocular vision video camera under water
The characteristic point of submarine target is determined, the distance of measurement characteristic point relative mechanical handss end, thus complete under water with the help of lamp
The perception of target and AUTONOMOUS TASK.
Example IV：Based on above-described embodiment, described motion perception system is by acoustic Doppler instrument 5, magnetic compass and depth
Meter composition, acoustic Doppler instrument 5 is arranged on the front end in framework 1, and described magnetic compass and described depth gauge are arranged on control storehouse 11
Interior.Motion perception system is mainly responsible for obtaining and calculate the pose feedback that robot is current, and in navigation with during operation and propulsion
System constitutes control loop, realizes the Autonomous Control of underwater performance.
Embodiment five：Based on above-described embodiment, each mechanical hand 9 includes mechanical hand shoulder 14, mechanical hand arm 15, machinery
Elbow portion 16, the wrist 19 of mechanical hand forearm 17, the paw 18 of mechanical hand and mechanical hand, mechanical hand shoulder 14, mechanical hand arm
15th, mechanical hand ancon 16, mechanical hand forearm 17, the wrist 19 of mechanical hand, the paw 18 of mechanical hand are sequentially connected, mechanical hand shoulder
14 are connected with framework 1 by underwater electrical connector 20.
Mechanical hand shoulder 14 includes pitching joint and swinging joint, and mechanical hand ancon 16 includes pitching joint, mechanical hand
Wrist 19 includes swinging joint, and each described joint is enclosed construction, and described enclosed construction is by joint end cap 21, sealing ring
22nd, encoder 23, motor reducer all-in-one 24, joint sealing shell 25, rotation general plug envelope 26, joint main shaft 27, Spring Card
Circle 28, general plug big envelope 29, main shaft bearing 30 and spindle connector 31 form, and motor reducer all-in-one 24 is arranged on joint sealing
In shell 25, encoder 23 is located at the upper end of motor reducer all-in-one 24, joint main shaft 27 and motor reducer all-in-one 24
Rotary shaft connect, main shaft bearing 30 is fixed between joint main shaft 27 and joint sealing shell 25, and general plug big envelope 29 is fastened on
In joint sealing shell 25, rotation general plug envelope 26 is fixed on and forms dynamic sealing, main shaft between joint main shaft 27 and general plug big envelope 29
Adapter 31 is fixed on joint main shaft 27 with spring collar 28 by bonded, and sealing ring 22 is fixed on joint sealing shell 25
Static seal is formed and joint end cap 21 between.
Motion is realized by motor reducer all-in-one 24, encoder 23 realizes the pose feedback in joint, rotation general plug envelope
26 and general plug big envelope 29 cooperation composition stationary ring, rotation general plug envelope 26 and joint main shaft 27 cooperation composition rotating ring realize the dynamic close of joint
Envelope.The paw 18 of mechanical hand includes flange 32, palm 33, paw bearing 34, paw main shaft 35, paw pedestal 36, large bevel gear
37th, cone pinion 38, locking nut 39 and paw locking pedestal 40, cone pinion 38 passes through motor shaft and motor reducer one
The rotary shaft of machine 24 connects, and cone pinion 28 is engaged with large bevel gear 27, and one end of paw main shaft 35 is fixed on paw pedestal 36
On, the other end of paw main shaft 35 is fixed on paw locking pedestal 40, and palm 33 is fixed on large bevel gear 27, palm 33 He
Large bevel gear 27 is arranged on paw main shaft 35 by paw bearing 34, and locking nut 39 is used for adjusting paw main shaft 35 and paw
Gap between locking pedestal 40.
The structure in each joint is similar, and each joint is driven by motor reducer all-in-one 24, and the position in joint realized by encoder 23
Appearance is fed back, and rotation general plug envelope 26 is fixed on the main shaft of joint, realizes joint by general plug big envelope 29 and joint sealing shell 25
Dynamic sealing, rotation general plug envelope 26 and general plug big envelope 29 cooperation composition stationary ring, rotation general plug envelope 26 and joint main shaft 27 cooperation composition
Rotating ring realizes the dynamic sealing in joint.Underwater electrical connector 20 is responsible for control instruction and encoder 23 feedback information in transmission joint.Handss
The motion of pawl mainly drives bevel gear 37,38 to realize the folding of paw by motor reducer all-in-one 24 by electric machine main shaft 27.
Composition and annexation are identical with specific embodiment five.
To sum up, the operation principle of the present invention is：When target enters in monocular color video camera 6 visual field of front end, robot
By identification determine operative goalies, while following the tracks of forward target by long-distance navigation pattern switching be AUTONOMOUS TASK pattern,
Target enters Robot Binocular Vision System 4 within sweep of the eye.Binocular vision system 4 measurement operative goalies are apart from mechanical hand 9
Distance, the main body of robot autonomous planning AUTONOMOUS TASK underwater robot platform and the coordination exercise track of mechanical hand 9, fortune
By the fortune of Doppler anemometer 5, magnetic compass and propulsion system closed loop control robot underwater robot platform main body in dynamic control
Dynamic, in conjunction with encoder 23, the pose measurement of mechanical hand 9 is realized with the main body of AUTONOMOUS TASK underwater robot platform and mechanical hand 9
Coordination exercise.
Claims (9)
1. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies it is characterised in that：Including framework (1), fairing
(3), battery compartment (10), control storehouse (11), propulsion system, motion perception system, underwater vision sensory perceptual system and two mechanical hands
(9), described fairing (3) covers on framework (1), and battery compartment (10) has two and is symmetrically mounted on fairing
(3) bottom, controls storehouse (11) to be arranged in framework (1), described underwater vision system and described motion perception system are respectively mounted
In the front end of described fairing (3), described propulsion system is arranged on fairing (3), and two mechanical hands (9) are installed
On framework (1).
2. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies according to claim 1 it is characterised in that：Described
Propulsion system includes two main propelling screws (12), a side propelling screws (7) and four vertical thrust propellers (8),
Two main propelling screws (12) are symmetrically mounted on the rear end of fairing (3), and side propelling screws (7) are arranged on streamlined
The lower surface of shell (3) front end, the lower surface of fairing (3) front end and the lower surface of rear end are respectively arranged with two respectively
Vertical thrust propeller (8)；The upper surface of described fairing (3) is provided with suspension centre (2).
3. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies according to claim 1 and 2 it is characterised in that：
Described underwater vision sensory perceptual system includes the front end binocular vision system (4) being arranged in framework (1) and monocular submerged color is taken the photograph
Camera (6), be arranged on fairing (3) lower surface underwater luminaire (13).
4. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies according to claim 1 and 2 it is characterised in that：
Described motion perception system include being arranged on control magnetic compass in storehouse and depth gauge, the acoustics that is arranged on framework Inner Front End how general
Strangle instrument (5).
5. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies according to claim 3 it is characterised in that：Described
Motion perception system includes being arranged on the acoustic Doppler instrument controlling magnetic compass in storehouse and depth gauge, being arranged on framework Inner Front End
(5).
6. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies according to claim 1 and 2 it is characterised in that：
Each mechanical hand includes being sequentially connected mechanical hand shoulder (14), mechanical hand arm (15), mechanical hand ancon (16), mechanical hand forearm
(17), the paw (18) of the wrist (19) of mechanical hand, mechanical hand, mechanical hand shoulder (14) passes through underwater electrical connector (20) and framework
(1) connect.
7. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies according to claim 3 it is characterised in that：Each
Mechanical hand includes being sequentially connected mechanical hand shoulder (14), mechanical hand arm (15), mechanical hand ancon (16), mechanical hand forearm
(17), the paw (18) of the wrist (19) of mechanical hand, mechanical hand, mechanical hand shoulder (14) passes through underwater electrical connector (20) and framework
(1) connect.
8. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies according to claim 4 it is characterised in that：Each
Mechanical hand includes being sequentially connected mechanical hand shoulder (14), mechanical hand arm (15), mechanical hand ancon (16), mechanical hand forearm
(17), the paw (18) of the wrist (19) of mechanical hand, mechanical hand, mechanical hand shoulder (14) passes through underwater electrical connector (20) and framework
(1) connect.
9. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies according to claim 5 it is characterised in that：Each
Mechanical hand includes being sequentially connected mechanical hand shoulder (14), mechanical hand arm (15), mechanical hand ancon (16), mechanical hand forearm
(17), the paw (18) of the wrist (19) of mechanical hand, mechanical hand, mechanical hand shoulder (14) passes through underwater electrical connector (20) and framework
(1) connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611055918.1A CN106477008B (en) | 2016-11-25 | 2016-11-25 | A kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611055918.1A CN106477008B (en) | 2016-11-25 | 2016-11-25 | A kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies |
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| Publication Number | Publication Date |
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| CN106477008A true CN106477008A (en) | 2017-03-08 |
| CN106477008B CN106477008B (en) | 2018-07-31 |
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Cited By (4)
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| CN108045532A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | A kind of underwater electric machinery arm operation gondola and application method |
| CN108860527A (en) * | 2018-07-09 | 2018-11-23 | 哈尔滨工程大学 | A kind of underwater robot-submarine mechanical arm system |
| CN108860532A (en) * | 2018-07-11 | 2018-11-23 | 哈尔滨工程大学 | A kind of omnidirectional's revolution submarine navigation device |
| CN109533239A (en) * | 2018-11-27 | 2019-03-29 | 长安大学 | A kind of deep water underwater intelligent operation robot and its control system |
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| CN108045532A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | A kind of underwater electric machinery arm operation gondola and application method |
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| CN108860532A (en) * | 2018-07-11 | 2018-11-23 | 哈尔滨工程大学 | A kind of omnidirectional's revolution submarine navigation device |
| CN109533239A (en) * | 2018-11-27 | 2019-03-29 | 长安大学 | A kind of deep water underwater intelligent operation robot and its control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106477008B (en) | 2018-07-31 |
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