CN108016586A - A kind of small-sized hanging underwater robot platform device - Google Patents
A kind of small-sized hanging underwater robot platform device Download PDFInfo
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- CN108016586A CN108016586A CN201810006545.1A CN201810006545A CN108016586A CN 108016586 A CN108016586 A CN 108016586A CN 201810006545 A CN201810006545 A CN 201810006545A CN 108016586 A CN108016586 A CN 108016586A
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- 238000012545 processing Methods 0.000 claims abstract description 58
- 230000005540 biological transmission Effects 0.000 claims abstract description 57
- 241000270607 Chelonia mydas Species 0.000 claims abstract description 10
- 210000003954 umbilical cord Anatomy 0.000 claims abstract description 4
- 210000004907 gland Anatomy 0.000 claims abstract description 3
- 238000013500 data storage Methods 0.000 claims description 10
- 238000005286 illumination Methods 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000013461 design Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 11
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
-
- 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
- B63G8/08—Propulsion
Abstract
The present invention relates to a kind of small-sized hanging underwater robot platform device.It is a kind of small underwater stage apparatus of the high external hanging of controllability, the field such as detection of underwater defects detection, seabed cable damage detection and submarine pipeline damage specific location for offshore oil platform.Its technical solution：The stage apparatus is made of imitative green turtle sandwich type element, underwater propeller, function carry system, camera system, signal processing analysis Transmission system, imitative green turtle sandwich type element is to be connected by hemispherical shell by screw hole C with main body rack, and internal umbilical cord is drawn by the gland head of main body rack；Main signal processing Transmission system is placed in the inside of underwater robot platform hemispherical shell, is placed in inside external carry part A from signal processing Transmission system A, is placed in from signal processing Transmission system B inside external carry part B.The present apparatus is simple in structure easy to maintain, and the external hanging design of function carry system improves the applicability of equipment with Miniaturization Design.
Description
Technical field
The present invention relates to a kind of small-sized hanging underwater robot platform device, is a kind of high using multimode controllability
Small underwater stage apparatus, underwater defects detection for offshore oil platform, seabed cable damage detection and subaqueous pipe
The fields such as the detection of road damage specific location.
Background technology
With the economic quickly development of various countries and being continuously increased for world population, the mankind consume the speed and total amount of resource
All constantly increasing, but the resource of land is limited, for survival and development, the mankind start to marching elsewhere, sea
The exploitation in ocean is exactly the forward position that this is marched greatly.Ocean, its gross area are about 3.6 hundred million square kilometres, account for earth surface
Long-pending 71%, mineral resources therein are also extremely abundant, and various mineral resources are tens times of nowadays land discovery resource
Differed to thousands of times, therefore, marine exploration has extremely strong attraction and challenge with exploitation.
Nowadays, as exploitation of the mankind to ocean progressively increases, submarine facility also gradually increases, at the same time also companion
With the increasing of seabed operation amount, the failure sum of submarine facility also increases, and environments such as subsea is severe, is unsuitable for people for a long time
Work in seabed, to reduce dangerous and high cost of the mankind during ocean is developed, then people use underwater
People replaces, and by underwater robot realizes the exploitation to ocean.
At present, the development of marine field is increasing to the demand of underwater robot platform, such as offshore oil platform
Underwater defects detection, seabed cable damage detection and the detection of submarine pipeline damage specific location, but current simple function
Underwater robot occupy majority, the problem of speed there are maintenance is more slow, and use environment is single, and cost is higher.So
It is badly in need of inventing a kind of small-size multifunction underwater robot platform device.
The content of the invention
The purpose of the present invention is：In order to overcome existing underwater robot apparatus function single, there is provided a kind of multifunction module
Change the high small-sized hanging underwater robot platform device of controllability.
The present invention is designed using the module of buckle-type, and detection module and the camera system for carrying function are set under water to reach
Standby testing goal.
In order to achieve the above object, the present invention uses following technical scheme：A kind of small-sized hanging underwater robot platform
Device is by imitative green turtle sandwich type element, underwater propeller, function carry system, camera system, signal processing analysis Transmission system group
Into, it is characterised in that：The stage apparatus be by imitate the external carry part A (8) of green turtle sandwich type element (1) and function carry system with outside
Carry part B (33) compositions are put, the imitative green turtle sandwich type element (1) is to pass through screw hole C (3) and main body rack by hemispherical shell (2)
(4) it is connected, accompanies seal washer (5) between the two, internal umbilical cord is drawn by the gland head (6) of main body rack (4), navel
It is fixed on the hollow ring (7) of main body rack afterbody again with line；External carry part A (8) passes through main body with external carry part B (33)
The buckle (9) of stent (4) bottom is fixed, and two buckles (9) are integrally attached on main body rack (4), and buckle (9) belongs to main body branch
A part for frame (4)；The underwater propeller (10) is made of motor (11), propeller (12) and duct (13), motor (11)
It is fixedly connected with propeller (12) on duct (13), duct is fixed on main body rack (4) by screw hole A (14)；It is described to take the photograph
Picture system (15) is made of waterproof CCD camera (16) and illumination LED array (17), two illumination LED array (17) left and right
Installed in waterproof CCD camera (16) both sides, camera system (15) is fixed on main body rack (4) front bottom end；At the signal
Reason analysis Transmission system is transmitted by main signal processing Transmission system (18), from signal processing Transmission system A (19), from signal processing
System B (20) and master system (34) composition, main signal processing Transmission system (18) are placed in underwater robot platform hemispherical
The inside of housing (2), is placed in external carry part A (8) inside from signal processing Transmission system A (19), system is transmitted from signal processing
It is internal that system B (20) is placed in external carry part B (33)；Main signal processing Transmission system (18) include data transmit-receive module B (29),
MCU B (27), motor-drive circuit (28), camera data acquisition module (21), underwater propeller (10) and motor driving electricity
Road (28) is connected, and waterproof CCD camera (16) is connected with camera data acquisition module (21), motor-drive circuit (28) and takes the photograph
Camera data acquisition module (21) is connected with MCU B (27) again, and MCU B (27) are connected with data transmit-receive module B (29) again；From
Signal processing Transmission system A (19) includes data transmit-receive module A (22), MCU A (23), analog-digital converter (24), sensor and adopts
Collect module (25), data storage (26) and program storage (32), sensor acquisition module (25) and analog-digital converter (24)
It is connected, the analog signal of collection is carried out A/D is converted into digital signal, then digital data transmission is carried out to MCU A (23)
Processing analysis, MCU A (23) while is bi-directionally connected with data storage (26) and program storage (32), and MCU A (23) are handled
On the one hand signal afterwards is sent to data storage (26), on the other hand sent by data transmit-receive module A (22) to hemispherical
The MCU B (27) of the internal main signal processing Transmission system A (18) of housing (2), from signal processing Transmission system B (20) with from signal
The connection mode for handling Transmission system A (19) is identical；Master system (34) includes host computer (31) and data transmit-receive module C
(30), host computer (31) is sent to the data transmit-receive mould of main signal processing Transmission system (18) by data transmit-receive module C (30)
Block B (29), MCU B (27) are again analyzed the control signal received by data transmit-receive module B (29), are sent to motor drive
Dynamic circuit (28), gathers since signal processing Transmission system A (19), from signal processing Transmission system B (20), camera data
After the signal data of module (21) three parts handles MCU B (27) processing in Transmission system (18) by main signal, then pass through
Data transmit-receive module B (29) in main signal processing Transmission system (18) is transferred to the data transmit-receive mould in master system (34)
Block C (30), is last transmitted to host computer (31).Small-sized hanging underwater robot platform device, it is characterised in that：The function
Carry system, which uses to be buckled, realizes the setting of dismountable multi-functional carry, two buckle (9) positions in external carry part A (8)
In carry cylinder (36) both ends, buckle (9) clamps carry cylinder (36) with screw hole B (35)；The feature of external carry part B (33) with
External carry part A (8) is identical.
The beneficial effects of the invention are as follows：(1) present invention simplifies structure and is conveniently easy to tie up using imitative green turtle housing design
Shield, reduces maintenance cost；(2) present apparatus employs the external hanging design of function carry system, can be according to different
Monitoring of environmental exchanges different function modules for, greatly improves the applicability of equipment；(3) present apparatus employs Miniaturization Design,
The present apparatus is adapted to various underwater narrow and small environment, while also reduce cost, improve the compactedness of structure with to changeable
Deep-sea adaptability.
Brief description of the drawings
Fig. 1 is the overall installation diagram of the small-sized hanging underwater robot platform device of the present invention.
Fig. 2 is the bottom view of the small-sized hanging underwater robot platform device of the present invention.
Fig. 3 is the front view of the small-sized hanging underwater robot platform device of the present invention.
Fig. 4 is the top view of the small-sized hanging underwater robot platform device of the present invention.
Fig. 5 is the underwater propeller of the small-sized hanging underwater robot platform device of the present invention.
Fig. 6 is the camera system of the small-sized hanging underwater robot platform device of the present invention.
Fig. 7 is the external carry part of the small-sized hanging underwater robot platform device of the present invention.
Fig. 8 is the process of signal transmission block diagram of the small-sized hanging underwater robot platform device of the present invention.
In figure：1st, green turtle sandwich type element is imitated, 2, hemispherical shell, 3, screw hole C, 4, main body rack, 5, seal washer, 6, Glan
Head, 7, hollow ring, 8, external carry part A, 9, buckle, 10, underwater propeller, 11, motor, 12, propeller, 13, duct,
14th, screw hole A, 15, camera system, 16, waterproof CCD camera, 17, illumination LED array, 18, main signal processing Transmission system,
19th, from signal processing transmission carry system A, 20, from signal processing transmission carry system B, 21, camera data acquisition module,
22nd, data transmit-receive module A, 23, MCU A, 24, analog-digital converter, 25, sensor acquisition module, 26, data storage, 27,
MCU B, 28, motor-drive circuit, 29, data transmit-receive module B, 30, data transmit-receive module C, 31, host computer, 32, program storage
Device, 33, external carry part B, 34, master system, 35, screw hole B, 36, carry cylinder.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Embodiment one
A kind of function carry system of small-sized hanging underwater robot platform device is the present embodiment as shown in Fig. 1,2,7
One, its function carry system includes：External carry part A (8) and external carry part B (33)；External carry part A (8) and external extension
Holder B (33) is consisted of the following parts with fixed, and buckle (9) integrally belongs to a part for main body rack (4), each two buckle
(9) respectively by the screw hole B (35) at the both ends that are buckled come the carry cylinder (36) that is locked, each replacement function carry system
When, lower carry cylinder (36) can then be gone by unscrewing screw hole B (35)；Then it is respectively charged into from signal processing and transmits inside carry cylinder (36)
Carry system A (19) and from signal processing transmission carry system B (20).
Embodiment two
As shown in Fig. 3,7,8 a kind of small-sized hanging underwater robot platform device from signal processing transmission carry system A,
B is the present embodiment two, is installed on from signal processing transmission carry system A (19) in external carry part A (8), it includes data receipts
Send out modules A (22), MCU A (23), analog-digital converter (24), sensor acquisition module (25), data storage (26) and program
Memory (32), when transmitting carry system acquisition data from signal processing, simulation that sensor acquisition module (25) collects
Signal transmission gives analog-digital converter (24), and the analog signal of collection is carried out A/D is converted into digital signal, then digital signal is passed
Be defeated by MCU A (23) and carry out processing analysis, MCU A (23) and meanwhile with data storage (26) and program storage (32) two-way company
Connect, on the one hand the signal after MCU A (23) processing is sent to data storage (26), on the other hand pass through data transmit-receive module A
(22) send to the internal main signal processing Transmission system A (18) of hemispherical shell (2).From signal processing transmission carry system B
(20) signal acquisition process transmission is consistent with from signal processing transmission carry system A (19) with storage.
Embodiment three
A kind of small-sized hanging underwater robot platform device main signal processing Transmission system is this implementation as shown in Fig. 4,8
Example three, main signal processing Transmission system (18) are installed on the inside of underwater robot platform hemispherical shell (2), main signal processing
Transmission system (18) includes data transmit-receive module B (29), MCU B (27), motor-drive circuit (28), camera data collection mould
Block (21)；MCU B (27) in main signal processing Transmission system (18), which are received, to be come since signal processing transmission carry system A
(19), MCU B are passed through from signal processing transmission carry system B (20) and the signal of camera data acquisition module (21), signal
(27) after handling, then host computer (31) is transferred to by data transmit-receive module B (29) and data transmit-receive module C (30) and is handled
Analysis and display, the control signal that host computer (31) is sent is also by data transmit-receive module B (29) and data transmit-receive module C (30)
MCU B (27) are transferred to, MCU B (27) are again parsed control signal, are sent to motor-drive circuit (28), so as to fulfill
Control to small-sized hanging underwater robot platform device.
Example IV
A kind of camera system of small-sized hanging underwater robot platform device is the present embodiment four as shown in Fig. 1,6,7,
It includes：Waterproof CCD camera (16) and illumination LED array (17), waterproof CCD camera (16) are located among camera system,
Waterproof CCD camera (16) both sides are respectively distributed the illumination LED array (17) containing four pieces of LED；When small-sized hanging underwater robot
After stage apparatus starts, illumination LED array (17) is then always on, and the image that waterproof CCD camera (16) collects is sent to MCU B
(27), MCU B (27) send images to host computer by data transmit-receive module B (29) and data transmit-receive module C (30) again
(31) show.
Claims (2)
1. a kind of small-sized hanging underwater robot platform device is by imitative green turtle sandwich type element, underwater propeller, function carry system
System, camera system, signal processing analysis Transmission system composition, it is characterised in that：The stage apparatus is by imitating green turtle sandwich type element (1)
Formed with the external carry part A (8) of function carry system with external carry part B (33), the imitative green turtle sandwich type element (1) is by half
Spherical shell (2) is connected by screw hole C (3) with main body rack (4), accompanies seal washer (5), internal umbilical cord between the two
Drawn by the gland head (6) of main body rack (4), umbilical cord is fixed on the hollow ring (7) of main body rack afterbody again；External extension
Holder A (8) is fixed by the buckle (9) of main body rack (4) bottom with external carry part B (33), two buckle (9) integrated connections
On main body rack (4), buckle (9) belongs to a part for main body rack (4)；The underwater propeller (10) by motor (11),
Propeller (12) and duct (13) composition, motor (11) and propeller (12) are fixedly connected on duct (13), and duct passes through spiral shell
Hole A (14) is fixed on main body rack (4)；The camera system (15) is by waterproof CCD camera (16) and illumination LED array
(17) form, two illumination LED array (17) left and right are installed on waterproof CCD camera (16) both sides, and camera system (15) is fixed
In main body rack (4) front bottom end；Signal processing analysis Transmission system by main signal processing Transmission system (18), from signal processing
Transmission system A (19), form from signal processing Transmission system B (20) and master system (34), main signal processing Transmission system
(18) inside of underwater robot platform hemispherical shell (2) is placed in, external carry is placed in from signal processing Transmission system A (19)
Part A (8) is internal, and it is internal to be placed in external carry part B (33) from signal processing Transmission system B (20)；Main signal handles Transmission system
(18) data transmit-receive module B (29), MCU B (27), motor-drive circuit (28), camera data acquisition module (21) are included,
Underwater propeller (10) is connected with motor-drive circuit (28), waterproof CCD camera (16) and camera data acquisition module
(21) it is connected, motor-drive circuit (28) and camera data acquisition module (21) are connected with MCU B (27) again, MCU B
(27) it is connected again with data transmit-receive module B (29)；From signal processing Transmission system A (19) include data transmit-receive module A (22),
MCU A (23), analog-digital converter (24), sensor acquisition module (25), data storage (26) and program storage (32), pass
Sensor acquisition module (25) is connected with analog-digital converter (24), and the analog signal of collection is carried out A/D is converted into digital signal,
Digital data transmission is subjected to processing analysis to MCU A (23) again, MCU A (23) while is deposited with data storage (26) and program
Reservoir (32) is bi-directionally connected, and on the one hand the signal after MCU A (23) processing is sent to data storage (26), on the other hand pass through
Data transmit-receive module A (22) is sent to the MCU B (27) of the internal main signal processing Transmission system A (18) of hemispherical shell (2), from
Signal processing Transmission system B (20) is identical with the connection mode from signal processing Transmission system A (19)；Master system (34) wraps
Host computer (31) and data transmit-receive module C (30) are included, host computer (31) is sent at main signal by data transmit-receive module C (30)
Manage Transmission system (18) data transmit-receive module B (29), MCU B (27) again by data transmit-receive module B (29) received by control
Signal processed is analyzed, and is sent to motor-drive circuit (28), since signal processing Transmission system A (19), from signal processing
Transmission system B (20), the signal data of camera data acquisition module (21) three parts handle Transmission system by main signal
(18) after MCU B (27) processing in, then data transmit-receive module B (29) transmission in main signal processing Transmission system (18) is passed through
To the data transmit-receive module C (30) in master system (34), host computer (31) is last transmitted to.
2. small-sized hanging underwater robot platform device according to claim 1, it is characterised in that：The function carry
System, which uses to be buckled, realizes the setting of dismountable multi-functional carry, and two buckles (9) in external carry part A (8) are located at extension
Cylinder (36) both ends are carried, buckle (9) clamps carry cylinder (36) with screw hole B (35)；The feature of external carry part B (33) with it is external
Carry part A (8) is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810006545.1A CN108016586A (en) | 2018-01-04 | 2018-01-04 | A kind of small-sized hanging underwater robot platform device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810006545.1A CN108016586A (en) | 2018-01-04 | 2018-01-04 | A kind of small-sized hanging underwater robot platform device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108016586A true CN108016586A (en) | 2018-05-11 |
Family
ID=62072579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810006545.1A Pending CN108016586A (en) | 2018-01-04 | 2018-01-04 | A kind of small-sized hanging underwater robot platform device |
Country Status (1)
| Country | Link |
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| CN (1) | CN108016586A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112362093A (en) * | 2020-08-10 | 2021-02-12 | 重庆大学 | Dam detection robot, detection system and detection method |
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Application publication date: 20180511 |