CN107697245B - Underwater autonomous absorption robot information interaction system - Google Patents
Underwater autonomous absorption robot information interaction system Download PDFInfo
- Publication number
- CN107697245B CN107697245B CN201710730635.0A CN201710730635A CN107697245B CN 107697245 B CN107697245 B CN 107697245B CN 201710730635 A CN201710730635 A CN 201710730635A CN 107697245 B CN107697245 B CN 107697245B
- Authority
- CN
- China
- Prior art keywords
- adsorbent equipment
- communication device
- idler wheel
- water
- launch system
- 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.)
- Expired - Fee Related
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention discloses a kind of underwater autonomous absorption robot information interaction system, the electromagnetic launch system including emitting into water mammalian epidermis with suctorial adsorbent equipment, by adsorbent equipment；It further include the towing gear that master controller, electromagnetic launch system, communication device are towed to adsorbent equipment attachment；It further include Beidou communication device；It further include the master controller being connected with the adsorbent equipment, electromagnetic launch system, towing gear, Beidou communication device, master controller and remote controler communicate.Structure of the invention is reasonable, favorable working performance.Robot and extraneous information exchange are realized the characteristics of floating by mammal timing by positioning based on Beidou and message transfer system.
Description
The application is application number 201610512392.9, applying date 2016.7.4, title " underwater autonomous absorption robot "
Divisional application.
Technical field
The present invention relates to a kind of underwater autonomous absorption robots.
Background technique
With being growing for hydrospace detection field, underwater robot causes more and more concerns.Underwater robot
It not only can replace the mankind and complete the work of many danger, but also the exploitation of marine resources can be promoted.Existing underwater
People, move mode are mostly autonomous, and that there are underwater energy resource supplies is insufficient, cruising ability is poor, robot movable range is limited etc.
Problem.
Traditional navigation instrument has large increase in production technology, also improves on information processing algorithm very much,
But still have error.When in use in order to guarantee precision, it is necessary to be corrected in real time to data.This has not only aggravated work
Task, and still cannot be guaranteed the accurate of location information.In addition, the underwater propagation of radio wave can decay rapidly, so that
GPS can not also play effectiveness.
Summary of the invention
The purpose of the present invention is to provide a kind of structurally reasonable, underwater autonomous absorption robots of favorable working performance.
The technical solution of the invention is as follows:
A kind of underwater autonomous absorption robot, it is characterized in that: including being adsorbed in robot with suctorial adsorbent equipment
The epidermis of mammal in water；It further include the electromagnetic launch system that adsorbent equipment is emitted into water to mammalian epidermis；Also wrap
Include the towing gear that master controller, electromagnetic launch system, communication device are towed to adsorbent equipment attachment；It further include Beidou communication
Device；It further include the master controller being connected with the adsorbent equipment, electromagnetic launch system, towing gear, Beidou communication device,
Master controller and remote controler communicate；When mammal occurs in water, the remote controler emits signal to master controller, master control
Adsorbent equipment is accelerated and is launched by device control electromagnetic launch system processed；The towing gear fills the Electromagnetic Launching
It sets, Beidou communication device etc. is dragged near adsorbent equipment；When in water mammal emerge take a breath when, Beidou communication device will
The information that each detection sensor obtains on robot position and Beidou communication device reaches land base station in real time.
The adsorbent equipment includes the shell equipped with inner cavity, and housing forward end is arranged sucker, is equipped with water pump in shell, water pump
Front end is equipped with the water pipe protruded into sucker；When adsorbent equipment to mammalian epidermis, the water in sucker is evacuated to cavity by water pump,
Enhance suction.
The electromagnetic launch system includes the capacitance group connecting with boost module, capacitance group and multistage electromagnetism accelerating coil group
Connection, multistage electromagnetism accelerating coil group are equipped with multistage acceleration position sensor.
Rope is connected on the adsorbent equipment；The towing gear includes idler wheel, and upper dress is by master controller control in idler wheel
The spring mechanism of work processed, the rope are wrapped on idler wheel, electromagnetic launch system, Beidou communication device, master controller
It is dragged by idler wheel；Main controller controls make the spring mechanism in idler wheel clockwork do work, and then utilize the gesture of its deposit
Idler wheel can be driven, roll idler wheel to adsorbent equipment along rope, at the same drag electromagnetic launch system, Beidou communication device,
Near master controller to adsorbent equipment.
The Beidou communication device includes the signal processing module for being connected to receiving antenna, signal processing module and master controller
Connection；There is the communication module connecting with external antenna, communication module is connected to SIM card, and communication module is connect with master controller；It is described
Detection sensor includes hydraulic pressure sensor and the substance sensor for detecting pollutant or minerals in ocean.
Three pressure sensors are posted on sucker, after detecting that sucker is uniformly contacted with the epidermis of mammal, water pump
Movement, valve are closed after drawing water, and seal water pump mouth, to obtain bigger suction.
Underwater autonomous absorption robot of the invention accelerates to emit its adsorbent equipment to mammalian epidermis by electromagnetism,
Towing gear is realized using clockwork spring, by positioning based on Beidou and message transfer system, is floated by mammal timing
Feature realizes robot and extraneous information exchange.Electromagnetic Launching only uses electricity compared with other radiation patterns in operational process
Can, so, also without generating harmful substance, not will cause water pollution substantially without noise, will not being caused to marine organisms
Injury.Towing module drives idler wheel that underwater human agent is dragged to object using clockwork, and avoid makes under water
With electric energy, the weight and volume of robot are optimized.The present invention not only saves energy required for robot moves under water,
Its endurance is greatly improved, and expands investigative range, improves security performance, enriches the substitution of underwater robot
Field.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is underwater autonomous absorption robot basic structure block diagram.
Fig. 2 is adsorbent equipment structure chart.
Fig. 3 is electromagnetic launch system basic block diagram.
Fig. 4 is adsorbent equipment accelerator figure in electromagnetic launch system.
Fig. 5 is towing gear basic block diagram.
Fig. 6 is Beidou communication device basic block diagram.
Specific embodiment
Referring to Fig.1, a kind of underwater autonomous absorption robot, the adsorbent equipment 4 including having sucker, cavity and water pump make
Robot is adsorbed in the mammalian epidermis such as whale, dolphin；It further include being emitted the adsorbent equipment 4 extremely by accelerating coil
The electromagnetic launch system 3 of mammalian epidermis, the electromagnetic launch system 3 are controlled by remote controler 2；It further include idler wheel, clockwork spring
The towing gear 5 of composition；It further include Beidou communication device 6；Further include with the adsorbent equipment 4, electromagnetic launch system 3, drag
Drag the connected master controller 1 of device 5, communication device 6.
When mammal occurs, the remote controler 2 emits signal to master controller 1, and master controller 1 controls electromagnetism hair
Adsorbent equipment 4 is accelerated and is launched by injection device 3, until the water pump of the adsorbent equipment 4 will be in sucker when mammalian epidermis
Water be evacuated to cavity, enhance suction.The towing gear 5 is filled the electromagnetic launch system 3, communication using clockwork
6 etc. are set to be dragged at adsorbent equipment 4.When mammal, which emerges, to take a breath, communication device 6 is visited by robot position and respectively
It surveys sensor information etc. and reaches land base station in real time.The master controller 1 selects model to can be STM32F103RBT6's
STM32 series monolithic or other kinds of controller.The 2 model PT2272-M4 radio receiving transmitting module of remote controler.
Adsorbent equipment 4 described in reference Fig. 2, Fig. 1 is mainly by battery 20, cavity 21, water pump 22, valve 23, water pipe 24, suction
The fixed chuck 27 of disk 25, pressure sensor 26, water pump forms.20 water supply of battery pump, 22 power supply, chuck 27 are used for
Fixed water pump 22, in production with 21 adhesion of cavity or be weldingly connected, sucker 25 is made of siliceous materials.It is posted on sucker 25
Three pressure sensors 26, after detecting that sucker 25 is uniformly contacted with object, the water pump 22 in cavity 21 is acted, by lower section
Pump mouth passes through the water pipe 24 being attached thereto and send the water in sucker 25 to cavity 21 by the right discharge outlet, and valve 23 is drawing water
After close, water pump mouth is sealed, to obtain bigger suction.
Referring to Fig. 3, the electromagnetic drive part of the electromagnetic launch system 3 is by boost module 31, capacitance group 32, electromagnetic wire
Enclose 33 and thyristor switch IGBT 34 composition.Electromagnetic launch system discharges to electromagnetic coil 33 using high-voltage capacitance group 32, work
The boosted module 31 of supply voltage can charge to capacitance group 32 after boosting.Driving circuit utilizes thyristor switch IGBT
34 pairs of electromagnetic coils 33 carry out control system of switching on or off electricity, wherein the conducting and shutdown of the IGBT are controlled by UC3843 and realized.
Referring to Fig. 4, adsorbent equipment described in adsorbent equipment 4 described in adsorbent equipment 4 and Fig. 1 described in Fig. 4 and Fig. 2 is
Same device.After capacitor charging, remote controler 2 described in Fig. 1 issues the order of transmitting adsorbent equipment 4, the main control
Device connects level-one electromagnetism accelerating coil 42, when level-one accelerates position sensor 45 to detect adsorbent equipment midpoint to electromagnetic coil
When midpoint exports high level, level-one accelerating coil 42 is closed, and connect two-stage electromagnetic accelerating coil 43, when second level accelerates position to pass
When sensor 46 detects that adsorbent equipment midpoint exports high level to electromagnetic coil midpoint, master controller closes second level accelerating coil
43, three-level electromagnetism accelerating coil 44 is connected, when three-level accelerates position sensor 47 to detect adsorbent equipment midpoint to electromagnetic wire
When enclosing midpoint output high level, three-level accelerating coil 44 is closed.Acceleration position sensor of the present invention can choose ST118
Type photoelectric sensor or other the sensor of position detecting function may be implemented.
Referring to Fig. 5, the underwater autonomous absorption robot master controller, electromagnetic launch system, communication device etc. 51 with
Idler wheel 53 is connected, and the adsorption module 4 is connected with rope 54, and rope 54 is wound on idler wheel 53.Absorption described in Fig. 1
Adsorbent equipment 4 described in device 4 and Fig. 5 is same device.First 53 clockwork spring of idler wheel described in Fig. 5 of master controller 1 described in Fig. 1
Clockwork spring acting (not shown) in mechanism, then drives the idler wheel being fixed in robot using the potential energy of its deposit
53, roll it to adsorbent equipment 4 along rope 54, so that underwater autonomous absorption robot rest part and absorption fill
Set 4 fittings.Idler wheel 53 skids in the process of movement in order to prevent, and the groove surfaces for contacting idler wheel 53 with rope 54 is needed to do
At coarse curved surface.The features such as rope used by pulling must have density small, and toughness is strong, corrosion-resistant, and coefficient of friction is big.It is optional
With the common ultra-high molecular weight polyethylene cable of current ocean operation.
Referring to Fig. 6, the Beidou communication device is mainly by Beidou receiving antenna 61, Beidou signal processing module 62, biography
Sensor module 63, external antenna 64, Beidou communication module 65 and SIM card 66 form.62 type of Beidou signal processing module of selection
Number be TM8620.Passive antenna model TA-011&GPS.Signal processing module receives according to Beidou related protocol and comes from Beidou
Then the message information of satellite is calculated the location information of underwater autonomous absorption robot using correlation formula, passes through standard string
Master controller is defeated by oral instructions, and receiving antenna is then the signal for auxiliary reception big-dipper satellite.Sensor module includes that hydraulic pressure passes
Sensor and all kinds of substance sensors, wherein MPXV7002DP pressure sensor module can be selected in hydraulic pressure sensor, utilizes the module
When can detecte mammal and floating up to sea, each module action can be instructed to carry out information transmission.All kinds of substance sensors
Then for detecting pollutant or minerals in ocean, if there is new situation, carried out by Big Dipper short message module to base station
It puts on record.Beidou communication module is mainly obtained robot with the distinctive short message mode of dipper system using satellite communication SIM card
The current location information and sensor information taken is sent to base station, analyzes oceanographic condition for it.
Claims (3)
1. a kind of underwater autonomous absorption robot information interaction system, it is characterized in that: including making machine with suctorial adsorbent equipment
Device people is adsorbed in the epidermis of mammal in water；It further include the Electromagnetic Launching that adsorbent equipment is emitted into water to mammalian epidermis
Device；It further include the towing gear towed to master controller, electromagnetic launch system, communication device near adsorbent equipment；Also wrap
Include Beidou communication device；It further include being connected with the adsorbent equipment, electromagnetic launch system, towing gear, Beidou communication device
Master controller, master controller and remote controler communicate；When mammal occurs in water, the remote controler emits signal to master
Adsorbent equipment is accelerated and is launched by controller, main controller controls electromagnetic launch system；The towing gear will be described
Electromagnetic launch system, Beidou communication device is dragged near adsorbent equipment；When in water mammal emerge take a breath when, Beidou
The information that detection sensor each in robot position and Beidou communication device obtains is reached land base by communication device in real time
It stands；
Rope is connected on the adsorbent equipment；The towing gear includes idler wheel, is worked on idler wheel equipped with main controller controls
Spring mechanism, the rope is wrapped on idler wheel, and electromagnetic launch system, Beidou communication device, master controller are by idler wheel
Dragging；Main controller controls make the spring mechanism in idler wheel clockwork do work, and are then driven using the potential energy of its deposit
Idler wheel rolls idler wheel to adsorbent equipment along rope, while dragging electromagnetic launch system, Beidou communication device, main control
Near device to adsorbent equipment.
2. underwater autonomous absorption robot information interaction system according to claim 1, it is characterized in that: the adsorbent equipment
Sucker is arranged in shell including being equipped with inner cavity, housing forward end, and water pump is equipped in shell, and the front end of water pump, which is equipped with, to be protruded into sucker
Water pipe；When adsorbent equipment to mammalian epidermis, the water in sucker is evacuated to cavity by water pump, enhances suction.
3. underwater autonomous absorption robot information interaction system according to claim 1, it is characterized in that: the Electromagnetic Launching
Device includes the capacitance group connecting with boost module, and capacitance group is connect with multistage electromagnetism accelerating coil group, multistage electromagnetism acceleration line
Circle group is equipped with multistage acceleration position sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710730635.0A CN107697245B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous absorption robot information interaction system |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610512392.9A CN106005319B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous absorption robot |
| CN201710730635.0A CN107697245B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous absorption robot information interaction system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610512392.9A Division CN106005319B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous absorption robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107697245A CN107697245A (en) | 2018-02-16 |
| CN107697245B true CN107697245B (en) | 2019-02-12 |
Family
ID=57106105
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610512392.9A Active CN106005319B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous absorption robot |
| CN201710730634.6A Expired - Fee Related CN107651142B (en) | 2016-07-04 | 2016-07-04 | Underwater absorption robot self-control system |
| CN201710730635.0A Expired - Fee Related CN107697245B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous absorption robot information interaction system |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610512392.9A Active CN106005319B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous absorption robot |
| CN201710730634.6A Expired - Fee Related CN107651142B (en) | 2016-07-04 | 2016-07-04 | Underwater absorption robot self-control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN106005319B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005319B (en) * | 2016-07-04 | 2018-01-02 | 南通大学 | Underwater autonomous absorption robot |
| CN106992467A (en) * | 2017-05-26 | 2017-07-28 | 国网辽宁省电力有限公司盘锦供电公司 | Electric power electromagnetic path catapult-launching gear |
| CN108839781A (en) * | 2018-05-31 | 2018-11-20 | 李圣辉 | A kind of seperated escape submarine |
| CN109849022B (en) * | 2019-04-10 | 2021-03-02 | 徐扬 | Underwater adsorption type robot |
| CN115042922B (en) * | 2022-03-24 | 2024-01-09 | 武汉理工大学 | Ocean monitor based on self-absorption principle |
| CN115571307B (en) * | 2022-10-12 | 2023-10-13 | 华能盐城大丰新能源发电有限责任公司 | Control structure and control method for adsorption wall surface of underwater robot |
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| JPH09177752A (en) * | 1995-12-27 | 1997-07-11 | Mitsubishi Heavy Ind Ltd | Simple attachment/detachment suction cup mechanism |
| CN102947145A (en) * | 2010-04-06 | 2013-02-27 | 罗伯科技公司 | Robotic system and methods of use |
| CN103112568A (en) * | 2012-12-21 | 2013-05-22 | 浙江建林电子电气有限公司 | Flexible aggressive mechanical octopus |
| KR20130141158A (en) * | 2012-06-15 | 2013-12-26 | 삼성중공업 주식회사 | Underwater vehicle system |
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| CN1094364A (en) * | 1993-12-10 | 1994-11-02 | 中国矿业大学北京研究生部 | Holding can be in the vacuum hold device of under-water operation behind the thing |
| US6065418A (en) * | 1996-02-08 | 2000-05-23 | Quantum Group, Inc. | Sequence of selective emitters matched to a sequence of photovoltaic collectors |
| JP4534364B2 (en) * | 2001-02-08 | 2010-09-01 | 株式会社Ｉｈｉ | Underwater moving device |
| CN1792697A (en) * | 2005-12-28 | 2006-06-28 | 胡广怀 | Under water magnetic adsorption danger eliminating robot for submarine |
| CN101704247B (en) * | 2009-11-12 | 2011-02-02 | 河南工业大学 | Amphibious bionic variable magnetism sucker |
| CN102424100A (en) * | 2011-11-22 | 2012-04-25 | 哈尔滨功成科技创业投资有限公司 | Robot for cleaning composite adsorption ship body |
| JP5881484B2 (en) * | 2012-03-13 | 2016-03-09 | 岡部株式会社 | Underwater floating fish reef and its recovery method |
| CN104921654B (en) * | 2014-03-17 | 2017-11-17 | 科沃斯机器人股份有限公司 | Adsorb robot |
| CN106005319B (en) * | 2016-07-04 | 2018-01-02 | 南通大学 | Underwater autonomous absorption robot |
-
2016
- 2016-07-04 CN CN201610512392.9A patent/CN106005319B/en active Active
- 2016-07-04 CN CN201710730634.6A patent/CN107651142B/en not_active Expired - Fee Related
- 2016-07-04 CN CN201710730635.0A patent/CN107697245B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09177752A (en) * | 1995-12-27 | 1997-07-11 | Mitsubishi Heavy Ind Ltd | Simple attachment/detachment suction cup mechanism |
| CN102947145A (en) * | 2010-04-06 | 2013-02-27 | 罗伯科技公司 | Robotic system and methods of use |
| KR20130141158A (en) * | 2012-06-15 | 2013-12-26 | 삼성중공업 주식회사 | Underwater vehicle system |
| CN103112568A (en) * | 2012-12-21 | 2013-05-22 | 浙江建林电子电气有限公司 | Flexible aggressive mechanical octopus |
| CN103600821A (en) * | 2013-11-07 | 2014-02-26 | 江苏科技大学 | Omni-directional floating and wall-climbing underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107651142A (en) | 2018-02-02 |
| CN107651142B (en) | 2019-04-23 |
| CN107697245A (en) | 2018-02-16 |
| CN106005319B (en) | 2018-01-02 |
| CN106005319A (en) | 2016-10-12 |
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Effective date of registration: 20210629 Address after: 226001 2nd floor, building 3, Zhongjiang International Plaza, No. 6, Tongjia Road, Chongchuan District, Nantong City, Jiangsu Province Patentee after: Nantong Juheng UAV Technology Co.,Ltd. Address before: 226019 Jiangsu city of Nantong province sik Road No. 9 Patentee before: NANTONG University |
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