CN108394539A - A kind of underwater operation robot system - Google Patents
A kind of underwater operation robot system Download PDFInfo
- Publication number
- CN108394539A CN108394539A CN201810416458.3A CN201810416458A CN108394539A CN 108394539 A CN108394539 A CN 108394539A CN 201810416458 A CN201810416458 A CN 201810416458A CN 108394539 A CN108394539 A CN 108394539A
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- Prior art keywords
- shell
- module
- robot body
- room
- buoy
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- 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
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Ocean & Marine Engineering (AREA)
- Birds (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of underwater operation robot system, including buoy and robot body, the buoy is connected with each other with the robot body by wireless signal；The buoy includes pedestal, robot body of the present invention changes the reservoir storage to snorkel in bucket to change the buoyancy for the bucket that snorkels by water pump, make robot body dive or floating, realize specific position hovering operation, barrier in preceding ranging sonar sniffing robot advance route, servo driving rudder blade auxiliary machinery human body flexibly turns to avoiding obstacles, whether ranging sonar sniffing robot ontology has fish close behind afterwards, second control module reads the natural enemy of fish audio file being stored in memory module in advance and plays out to drive away the shoal of fish by sound crowder, to the strong antijamming capability of environment, coefficient of surviving is high, safety is good, simultaneously provided with buoy as the signal terminal between robot body and the activity center of distal end.
Description
Technical field
The present invention relates to robotics equipment field, more particularly to a kind of underwater operation robot system.
Background technology
With the in-depth and development to scientific research of seas and ocean development strategy, in shoal, beach, ocean, lake etc.
The work that detection is reconnoitred in environment is more and more.Today that modern project prospecting Detection Techniques tend to be perfect, although underwater exploration
Existing development, but be still faced with underwater environment is severe dangerous, people diving depth it is limited can not reach, uncertain factor it is excessive
Etc. difficulties.And architectural engineering enters the exploration of bridge pier dam and is directly related to the security of the lives and property of people under water, therefore send out
Opening up a kind of underwater robot replaces the mankind to realize that underwater exploration task just becomes particularly significant.
And existing underwater robot is in the presence of weak to the anti-interference ability of environment, energy consumption is big, noise is big, disturbance is big, cannot
Specific position hover operation and can not for a long time on a large scale implement exploration operation the shortcomings of.And since underwater environment distance is made
The distance at industry center is usually distant, can influence the stability of the two direct signal transmission, is carried out to influence underwater robot
The stability and reliability of operation, reduce the operating efficiency of underwater robot.
Invention content
(1) the technical issues of solving
To solve the above-mentioned problems, the present invention provides a kind of underwater operation robot system, robot body passes through water
Pump changes the reservoir storage to snorkel in bucket to change the buoyancy for the bucket that snorkels, and makes robot body dive or floating, it is special to realize
Position is hovered operation, the barrier in preceding ranging sonar sniffing robot advance route, servo driving rudder blade auxiliary robot sheet
Body flexibly turns to avoiding obstacles, and whether rear ranging sonar sniffing robot ontology has fish to approach behind, the second control
Module reads the natural enemy of fish audio file being stored in memory module in advance and plays out to drive by sound crowder
The shoal of fish is walked, to the strong antijamming capability of environment, existence coefficient is high, and safety is good, while provided with buoy as robot body
Signal terminal between the activity center of distal end, improves the stabilization of signal transmission between robot body and activity center
Property, reliability and high efficiency improve robot body to ensure that the stability and reliability of robot body operation
Operating efficiency.
(2) technical solution
A kind of underwater operation robot system, including buoy and robot body, the buoy and the robot body
It is connected with each other by wireless signal；The buoy includes pedestal, and the pedestal floats on the water surface, and the upper surface of the pedestal occupies
In be equipped with control-rod, the first control module, GPS positioning module, the first wireless communication module and the are equipped in the control-rod
One power storage module, the external circumferential of the control-rod are equipped with cricoid first solar energy photovoltaic panel, the top of the control-rod
Equipped with top plate, the upper surface of the top plate it is placed in the middle be equipped with signal lamp, the monosymmetric of the signal lamp is equipped with
A pair of of wind turbine, the wind turbine are connected to the upper surface of the top plate, the output end of first control module by holder
The signal lamp is connected, first control module is communicated to connect by the GPS positioning module and GPS positioning satellite,
First control module is separately connected by first wireless communication module in the operation of the robot body and distal end
The heart, first solar energy photovoltaic panel and the wind turbine are electrically connected with first power storage module, first electric power storage
Module provides operating voltage for the buoy；The robot body includes shell and several buckets that snorkel, and the bucket that snorkels is symmetrical
The both sides for being connected to the shell, the shell is fusiformis structure, and control room and power house are divided into the shell, described dynamic
Power room is located at the lower section of the control room, and first partition is equipped between the power house and the control room, the power house
Centre is equipped with propeller, and the propeller is fixed on the bottom inside of the shell, and the cardan shaft of the propeller is through described
The bottom of shell and the lower section for stretching out the shell, the cardan shaft are connected by wear-resistant seal circle with the bottom of the shell
It connects, the end of the cardan shaft is equipped with propeller, and the side of the power house is equipped with steering engine, and the steering engine is located at the shell
On the inside of the back side, the rudderpost of the steering engine is through the bottom of the shell and stretches out the lower section of the shell, the rudderpost also by
Wear-resistant seal circle is connected with the bottom of the shell, and the end of the rudderpost is equipped with rudder blade, and the other side of the power house is set
There are the second power storage module, second power storage module to be located at the front inside of the shell, second power storage module is equipped with electricity
The centre of amount detector, the control room is equipped with the second control module, and the side of the control room is equipped with image processing module, institute
The front inside that image processing module is located at the shell is stated, the other side of the control room is equipped with memory module, the storage
Module is located on the inside of the back side of the shell, and the second wireless communication module, second channel radio are additionally provided in the control room
Letter module is located between described image processing module and second control module, and several electric rotatings are additionally provided in the power house
Machine, the positive inside of two set on the shell of the electric rotating machine symmetrically, the rotary shaft of the electric rotating machine run through
The side of the shell simultaneously stretches out in the shell, and the rotary shaft is connected by wear-resistant seal circle with the side of the shell
It connects, is connected on the outside of the end of the rotary shaft and the bucket that snorkels, the bucket that snorkels includes staving, is divided into the staving
Water storage room and pumping forces room, the pumping forces room are located at the lower section of the water storage room, are equipped between the water storage room and the pumping forces room
Second partition, placed in the middle in the pumping forces room to be equipped with water pump, the first water pipe of the water pump through the second partition and stretches into
The water storage room, first water pipe are connected by wear-resistant seal circle with the second partition, the second water pipe of the water pump
Through the bottom of the staving and the staving is stretched out in, the bottom that second water pipe passes through wear-resistant seal circle and the staving
It is connected, liquid level sensor is equipped in the water storage room, the liquid level sensor is located at the upper surface of the second partition, described
The front of shell it is placed in the middle be equipped with camera, the front of the shell is monosymmetric to be equipped with several preceding ranging sonars, the shell
The back side of body is monosymmetric to be equipped with several rear ranging sonars, and the back side of the shell is additionally provided with a pair of of sound crowder, described
Sound crowder is symmetrically located in the back side of the shell, and the top of the shell is equipped with the second solar energy photovoltaic panel, described to take the photograph
As head, the preceding ranging sonar, the rear ranging sonar, the liquid level sensor connect second control with the memory module
The output end of the input terminal of molding block, second control module is separately connected the water pump, the electric rotating machine, the propulsion
Device, the steering engine, described image processing module and the sound crowder, second control module are wireless by described second
Communication module is connected with the buoy, and second solar energy photovoltaic panel is electrically connected with second power storage module, described
Second power storage module provides operating voltage for the robot body.
Further, the pedestal is made of pvc material.
Further, the quantity of the bucket that snorkels is at least 4 or more even number.
Further, the liquid level sensor selects static pressure throw-in type liquid level sensor.
Further, the camera selects 3D high-definition night-viewing cameras.
Further, the memory module stores the audio file of offline map packet and natural enemy of fish in advance.
Further, the GPS positioning module selects ET-318 SiRF Star III GPS chip groups.
Further, first wireless communication module selects 2G, 3G or 4G logical with second wireless communication module
Believe module.
Further, first control module selects 16 microcontroller MC95S12DJ128, second control module
Select 32 ARM controller LPC1768.
Further, first solar energy photovoltaic panel and second solar energy photovoltaic panel are the flexible unitary silicon sun
It can photovoltaic panel.
(3) advantageous effect
The present invention provides a kind of underwater operation robot system, robot body changes the storage to snorkel in bucket by water pump
Water makes robot body dive or floating to change the buoyancy for the bucket that snorkels, and realizes specific position hovering operation, robot
Ontology provides onward impulse by screw propeller, and power performance is good, and job area is big, while robot body is set as fusiformis
Structure, and electric rotating machine will snorkel bucket from vertically becoming lateral after dive, reduce the resistance of water when robot body advances
Power improves power transfer efficiency, reduces energy consumption, and 3D high-definition night-viewings camera can allow robot body dim ring under water
Also residing terrain environment feature, the obstacle in preceding ranging sonar sniffing robot ontology advance route can be accurately identified under border
Object, servo driving rudder blade auxiliary machinery human body flexibly turn to avoiding obstacles, rear ranging sonar sniffing robot ontology
Whether there are fish to approach behind, the second control module reads the natural enemy of fish audio file being stored in memory module in advance and simultaneously leads to
Sound crowder is crossed to play out to drive away the shoal of fish, to the strong antijamming capability of environment, existence coefficient is high, and safety is good, the
Two power storage modules carry coulometric detector, and when not enough power supply, robot body floating to the water surface, passes through the second solar energy automatically
Volt plate charges to the second power storage module, meets energy-saving and environment-friendly design concept, increases the cruising ability of robot body,
The operating efficiency of robot body is improved, while provided with buoy as between robot body and the activity center of distal end
Signal terminal, buoy receive the job instruction of activity center by the first wireless communication module and are transmitted to robot body,
Robot body sends the underwater picture information that camera acquires to buoy and by floating by the second wireless communication module simultaneously
Mark sends activity center to, realizes remote intelligent monitoring management, improves signal between robot body and activity center
Stability, reliability and the high efficiency of transmission improve machine to ensure that the stability and reliability of robot body operation
The operating efficiency of device human body, buoy itself are powered by the first power storage module, can pass through the first solar energy photovoltaic panel and wind turbine
It charges to the first power storage module, takes full advantage of the natural energy resources of water environment, improve energy utilization rate, also ensure
The electricity of buoy abundance, further ensures the stable signal transmission between robot body and distal end activity center, buoy
The navigation message that GPS positioning satellite is received by GPS positioning module, when robot body terminates operation, buoy is by GPS positioning
Data are sent respectively to robot body and activity center, facilitate robot body to return to the position of buoy, while passing through signal
Indicator light is indicated that robot body can be quickly found out by facilitating activity center, simple in sturcture, ingenious in design, system work(
Low, accuracy of detection height, fast response time, stability and good reliability are consumed, there is good practicability and scalability, it can be extensive
Prospecting detection operations applied to environment such as various shoals, beach, ocean, lakes.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of underwater operation robot system according to the present invention.
Fig. 2 is a kind of internal structure schematic diagram of the shell of underwater operation robot system according to the present invention.
Fig. 3 is that a kind of positive internal structure of the robot body of underwater operation robot system according to the present invention is shown
It is intended to.
Fig. 4 is a kind of System Working Principle figure of underwater operation robot system according to the present invention.
Specific implementation mode
Embodiment according to the present invention is described in further details below in conjunction with the accompanying drawings.
In conjunction with Fig. 1~Fig. 4, a kind of underwater operation robot system, including buoy and robot body, buoy and robot
Ontology is connected with each other by wireless signal；Buoy includes pedestal 33, and pedestal floats on the water surface, and the upper surface of pedestal 33 is placed in the middle
Equipped with control-rod 34, it is equipped with the first control module, GPS positioning module, the first wireless communication module and first in control-rod 34 and stores
Electric module, the external circumferential of control-rod 34 are equipped with cricoid first solar energy photovoltaic panel 35, and the top of control-rod 34 is equipped with top
Plate 36, the upper surface of top plate 36 it is placed in the middle be equipped with signal lamp 39, the monosymmetric of signal lamp 39 is equipped with a pair of of wind
Turbine 38, wind turbine 38 are connected to the upper surface of top plate 36 by holder 37, and the output end connection signal of the first control module refers to
Show that lamp 39, the first control module are communicated to connect by GPS positioning module and GPS positioning satellite, the first control module passes through first
Wireless communication module is separately connected robot body and the activity center of distal end, and the first solar energy photovoltaic panel 35 and wind turbine 38 are equal
It is electrically connected with the first power storage module, the first power storage module provides operating voltage for buoy；If robot body include shell 1 with
The dry bucket that snorkels, the bucket that snorkels symmetrically are connected to the both sides of shell 1, and shell 1 is fusiformis structure, and control room 3 is divided into shell 1 and is moved
Power room 2, power house 2 are located at the lower section of control room 3, first partition 4 are equipped between power house 2 and control room 3, in power house 2
Between be equipped with propeller 5, propeller 5 is fixed on the bottom inside of shell 1, the cardan shaft 6 of propeller 5 through the bottom of shell 1 simultaneously
The lower section of shell 1 is stretched out, cardan shaft 6 is connected by wear-resistant seal circle with the bottom of shell 1, and the end of cardan shaft 6 is equipped with spiral shell
Paddle 7 is revolved, the side of power house 2 is equipped with steering engine 8, and steering engine 8 is located on the inside of the back side of shell 1, and the rudderpost 9 of steering engine 8 is through shell 1
Bottom and the lower section for stretching out shell 1, rudderpost 9 are connected also by wear-resistant seal circle with the bottom of shell 1, and the end of rudderpost 9 is set
There are rudder blade 10, the other side of power house 2 to be equipped with the second power storage module 11, the second power storage module 11 is located at the front inside of shell 1,
Second power storage module 11 is equipped with coulometric detector, and the centre of control room 3 is equipped with the second control module 12, and the side of control room 3 is set
There are image processing module 13, image processing module 13 to be located at the front inside of shell 1, the other side of control room 3 is equipped with storage mould
Block 14, memory module 14 are located on the inside of the back side of shell 1, and the second wireless communication module 15 is additionally provided in control room 3, and second is wireless
Communication module 15 is located between image processing module 13 and the second control module 12, and several electric rotating machines are additionally provided in power house 2
17, the positive inside of two set on shell 1 of electric rotating machine 17 symmetrically, the rotary shaft 18 of electric rotating machine 17 runs through shell 1
Side and stretch out in shell 1, rotary shaft 18 is connected by wear-resistant seal circle with the side of shell 1, the end of rotary shaft 18
It is connected on the outside of the bucket that snorkels, the bucket that snorkels includes staving 19, and water storage room 21 and pumping forces room 20, pumping forces room 20 are divided into staving 19
Second partition 22 is equipped between the lower section of water storage room 21, water storage room 21 and pumping forces room 20, it is placed in the middle in pumping forces room 20 to be equipped with
First water pipe 24 of water pump 23, water pump 23 through second partition 22 and stretches into water storage room 21, and the first water pipe 24 passes through wear-resistant seal
Circle is connected with second partition 22, and the second water pipe 25 of water pump 23 through the bottom of staving 19 and stretches out in staving 19, the second water
Pipe 25 is connected by wear-resistant seal circle with the bottom of staving 19, and liquid level sensor 26, liquid level sensor are equipped in water storage room 21
26 are located at the upper surface of second partition 22, the front of shell 1 it is placed in the middle be equipped with camera 27, the front of shell 1 is monosymmetric
Equipped with several preceding ranging sonars 28, the back side of shell 1 is monosymmetric to be equipped with several rear ranging sonars 30, and the back side of shell 1 is also
Equipped with a pair of of sound crowder 31, sound crowder 31 is symmetrically located in the back side of shell 1, and the top of shell 1 is equipped with second too
Positive energy photovoltaic panel 32, camera 27, preceding ranging sonar 28, rear ranging sonar 30, liquid level sensor 26 and memory module 14 connect
The output end of the input terminal of second control module 12, the second control module 12 is separately connected water pump 23, electric rotating machine 17, propeller
5, steering engine 8, image processing module 13 and sound crowder 31, the second control module 12 is by the second wireless communication module 15 and floats
Mark is connected, and the second solar energy photovoltaic panel 32 and the second power storage module 11 are electrically connected, and the second power storage module 11 is robot sheet
Body provides operating voltage.
The pedestal 33 of buoy bottom is made of pvc material, and polyvinyl chloride is the white general plastic of impalpable structure
Material, the degree of branching is smaller, relative density only 1.4 or so, therefore buoy may float on by pedestal 33 on the water surface.Buoy passes through control
The activity center that the second wireless communication module in bar 34 receives distal end is sent to the job instruction of robot body, and passes through the
Two wireless communication modules are transmitted to robot body.
The bucket that snorkels of robot body is cavity structure, has certain buoyancy, robot body can be made to bubble through the water column.For
Ensure that the balance and stability of robot body, the quantity for the bucket that snorkels are at least 4 or more even number.Robot body is logical
It crosses the first wireless communication module 15 to be communicated with the buoy on the water surface, receives the operation of buoy forwarding sent by activity center
Instruction.When needing dive, the water pump 23 of the bottom of the barrel that snorkels pumping forces room 20 works, and the second water pipe 25 sucks external flow floating
The water storage room 21 of latent bucket increases the weight to snorkel in bucket to change its buoyancy.Second control module 12 is by the specific depth of dive
It is converted into the variation in buoyancy for the bucket that snorkels, is homogenized to the variable quantity that the single bucket that snorkels is its weight.Liquid level in water storage room 21
Sensor 26 monitors the variation of water in real time, and liquid level sensor 26 selects static pressure throw-in type liquid level sensor, static pressure throw-in type liquid
Level sensor is static pressure to be converted to electric signal, then pass through based on the surveyed fluid pressure principle proportional to the height of the liquid
Excess temperature compensates and linear amendment, is converted to standard electric signal.Liquid level sensor 26 accurately detects water in water storage room 21
Variation is sent into the second control module 12 and is handled, and the second control module 12 is to be calculated the variation of barrel weight that snorkels
Amount, realizing robot body can hover in the progress operation of a certain depth.
After robot body dive to the depth needed, the electric rotating machine 17 of 1 internally-powered room of shell, 2 both sides works, rotation
Rotating motor 17 drives rotary shaft 18 to rotate, and drive snorkels bucket rotation, and the bucket that makes to snorkel vertical is become laterally, to reduce from original
The resistance for the water that robot body is subject to when advancing.Simultaneously robot body be designed as fusiformis structure, further reduce by
The resistance of the water arrived improves power transfer efficiency, reduces energy consumption.Propeller 5 works, and propeller 7 is driven by cardan shaft 6
Rotation, generates forward propulsive force, robot body is made to travel forward under water, expand job area, and by propeller
Propeller provides onward impulse, and power performance is good.The positive camera 27 of robot body acquires the image information in water, due to
Underwater environment light is more dim, and camera 27 selects 3D high-definition night-viewing cameras, robot body can be allowed to accurately identify residing
Terrain environment feature, collect clearly image information, provide valuable reliable image document to activity center, provide
Reconnoitre the strong reference of detection.It avoids simultaneously and carrys out auxiliary camera 27 using lighting apparatus such as searchlights, water will not be alarmed
Under fish, improve the safety of robot body.The preceding ranging sonar 28 and rear ranging sonar 30 of robot body simultaneously
It works, the barrier on 28 sniffing robot ontology advance circuit of preceding ranging sonar such as needs to change direction of advance, the second control
Module 12 controls steering engine 8 and works, and steering engine 8 drives rudderpost 9 to rotate, and drives rudder blade 10 to rotate, to change the flow direction of flow, makes machine
Device human body changes direction of advance, realizes very flexible turning avoiding obstacles.30 sniffing robot sheet of ranging sonar afterwards
Whether have that fish are close after body, when have fish close to robot body behind when, the reading of the second control module 12 prestores
The audio file of natural enemy of fish in memory module 14, and carried out by the sound crowder 31 of robot body back side both sides
It plays, to drive away fish, avoids fish and collide with robot body, to the strong antijamming capability of environment, existence system
Number is high, and safety is good.
The image information that image processing module 13 acquires camera 27 is sent into the second control module 12 after handling, the
Two control modules 12 are sent to buoy by the second wireless communication module 15, and buoy is sent to far by the first wireless communication module again
The activity center at end.First wireless communication module and the second wireless communication module 15 are 2G, 3G or 4G communications module, mobile network
Network signal cover is wide, and signal amplitude is strong, has high cost performance.Provided with buoy as robot body and distal end
Signal terminal between activity center improves the stability of signal transmission between robot body and activity center, reliable
Property and high efficiency, ensure that the radio transmission efficiency between robot body and activity center, realize activity center intelligence
Remote monitoring.
Second power storage module 11 provides operating voltage for robot body, and the second power storage module 11 carries coulometric detector,
When the remaining capacity deficiency or robot body that monitor the second power storage module 11 receive the floating instruction of distal end activity center
When, electric rotating machine 17 works, and the bucket that will snorkel is initial vertical by laterally reverting to, and then water pump 23 works, and passes through the first water pipe
24 extract the flow in water storage room 21, and are discharged into outside again through the second water pipe 25, and to make to snorkel, bucket restores to initial to float
Power state makes robot body return to the water surface, completes floating action.The surface of robot body is equipped with the second solar energy photovoltaic panel
32, the feature that water environment solar energy can be made full use of more sufficient, and the second solar energy photovoltaic panel 32 selects flexible list
Crystal silicon solar photovoltaic panel has high photovoltaic conversion efficiency, improves solar energy utilization rate, provided for robot body
Sufficient electric energy, makes robot body have good cruising ability, improves operating efficiency.Buoy is by the first internal electric power storage
Module for power supply, since buoy is located at water surface for a long time, solar energy is more sufficient, therefore is arranged in the outside of control-rod 34
First solar energy photovoltaic panel 35, and the first solar energy photovoltaic panel 35 be ring-type, can the round-the-clock reception solar energy of multi-angle, carry
The utilization rate of solar energy is risen, and the first solar energy photovoltaic panel 25 equally selects flexible unitary silicon solar photovoltaic panel, tool
There is high photovoltaic conversion efficiency, further improves solar energy utilization rate.Simultaneously in view of water environment air quantity fills very much
Foot, a pair of of wind turbine 38 of setting at the top of buoy can be charged to the first power storage module by the air quantity of water environment, avoided
The first solar energy photovoltaic panel 35 can not charge to the first power storage module and lead to buoy cisco unity malfunction under continuous wet weather environment
The case where, the natural energy resources of water environment are taken full advantage of, energy utilization rate is improved, also ensure the electricity of buoy abundance,
Further ensure the stable signal transmission between robot body and distal end activity center
Buoy receives the navigation message of GPS positioning satellite by GPS positioning module, and GPS positioning module selects ET-318
SiRF Star III GPS chip groups, SiRF Star III GPS chip groups have high sensitivity, quick TTFF under low signal
(primary positioning time), the full visual field tracking in 20 channels, tracking velocity precision is 0.1m/s, supports NMEA0183 and SiRF binary bits
Agreement fixes data information as defined in output NMEA0183 by serial ports.MC95S12DJ128 receives recommendation positioning letter therein
Breath obtains the information such as time, longitude and latitude.When buoy receives the finger that the robot body that distal end activity center is sent terminates operation
It enables, GPS positioning data are sent respectively to robot body and the activity center of distal end by buoy, and robot body is by storing mould
The offline map packet in operation waters pre-deposited in block 14, and the GPS positioning data for combining buoy to send are back to where buoy
Position.Buoy lights the signal lamp 39 of top plate 36 and is indicated that the personnel at convenient working center can be quickly found out simultaneously
Buoy, to which robot body is taken back activity center.
First control module communicates interconnection by GPS positioning module with GPS positioning satellite foundation, while wireless by first
Communication module is in communication with each other with the activity center of distal end and robot body respectively, while the first control module output control letter
Number drive signal indicator light 39 works, and in order to simplify circuit, reduces cost, improves the scalability in system later stage, the first control
Module selects the EEPROM of the RAM and 2KB of 16 microcontrollers MC95S12DJ128, Flash, 8KB of built-in 128KB, has
5V is inputted and driving capability, CPU working frequencies can reach 50MHz.The independent number I/O interfaces in 29 tunnels, 20 road bands are interrupted and are called out
The digital I/O interfaces for function of waking up, 10 A/D converters in 28 channels, input capture/output with 8 channels are compared, are also had
There are 8 programmable channels PWM.With 2 serial asynchronous communication interface SCI, 2 synchronous serial Peripheral Interface SPI, I2C buses
With CAN function modules etc., meet design requirement.Second control module 12 is to camera 27, preceding ranging sonar 28, rear ranging sonar
30, the input signal of liquid level sensor 26 and memory module 14 is handled, and output control signal controls water pump 23, rotation respectively
Motor 17, propeller 5, steering engine 8, image processing module 13 and sound crowder 31 work, while passing through the second radio communication mold
Block 16 is communicated with buoy.Since the second control module 12 needs quickly to handle multichannel data and multiple processes, work
Work amount is larger, therefore it is required that also to ensure while the second control module 12 has stronger data-handling capacity control accuracy and
The synchronism of image transmitting.Second control module 12 selects 32 ARM controller LPC1768, based in ARM Cortex-M3
Core, operating frequency are up to 120MHz, and code execution speed is up to 1.25MIPS/MHz, and has abundant peripheral interface unit,
Enormously simplify circuit.The high-speed processing technology of LPC1768 itself will be helpful to improve control accuracy, while also ensure data
The real-time of transmission.
The present invention provides a kind of underwater operation robot system, robot body changes the storage to snorkel in bucket by water pump
Water makes robot body dive or floating to change the buoyancy for the bucket that snorkels, and realizes specific position hovering operation, robot
Ontology provides onward impulse by screw propeller, and power performance is good, and job area is big, while robot body is set as fusiformis
Structure, and electric rotating machine will snorkel bucket from vertically becoming lateral after dive, reduce the resistance of water when robot body advances
Power improves power transfer efficiency, reduces energy consumption, and 3D high-definition night-viewings camera can allow robot body dim ring under water
Also residing terrain environment feature, the obstacle in preceding ranging sonar sniffing robot ontology advance route can be accurately identified under border
Object, servo driving rudder blade auxiliary machinery human body flexibly turn to avoiding obstacles, rear ranging sonar sniffing robot ontology
Whether there are fish to approach behind, the second control module reads the natural enemy of fish audio file being stored in memory module in advance and simultaneously leads to
Sound crowder is crossed to play out to drive away the shoal of fish, to the strong antijamming capability of environment, existence coefficient is high, and safety is good, the
Two power storage modules carry coulometric detector, and when not enough power supply, robot body floating to the water surface, passes through the second solar energy automatically
Volt plate charges to the second power storage module, meets energy-saving and environment-friendly design concept, increases the cruising ability of robot body,
The operating efficiency of robot body is improved, while provided with buoy as between robot body and the activity center of distal end
Signal terminal, buoy receive the job instruction of activity center by the first wireless communication module and are transmitted to robot body,
Robot body sends the underwater picture information that camera acquires to buoy and by floating by the second wireless communication module simultaneously
Mark sends activity center to, realizes remote intelligent monitoring management, improves signal between robot body and activity center
Stability, reliability and the high efficiency of transmission improve machine to ensure that the stability and reliability of robot body operation
The operating efficiency of device human body, buoy itself are powered by the first power storage module, can pass through the first solar energy photovoltaic panel and wind turbine
It charges to the first power storage module, takes full advantage of the natural energy resources of water environment, improve energy utilization rate, also ensure
The electricity of buoy abundance, further ensures the stable signal transmission between robot body and distal end activity center, buoy
The navigation message that GPS positioning satellite is received by GPS positioning module, when robot body terminates operation, buoy is by GPS positioning
Data are sent respectively to robot body and activity center, facilitate robot body to return to the position of buoy, while passing through signal
Indicator light is indicated that robot body can be quickly found out by facilitating activity center, simple in sturcture, ingenious in design, system work(
Low, accuracy of detection height, fast response time, stability and good reliability are consumed, there is good practicability and scalability, it can be extensive
Prospecting detection operations applied to environment such as various shoals, beach, ocean, lakes.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and range is defined.Under the premise of not departing from design concept of the present invention, technology of the ordinary people in the field to the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It has all recorded in detail in the claims.
Claims (10)
1. a kind of underwater operation robot system, it is characterised in that：Including buoy and robot body, the buoy and the machine
Device human body is connected with each other by wireless signal；The buoy includes pedestal, and the pedestal floats on the water surface, the pedestal
Upper surface it is placed in the middle be equipped with control-rod, the first control module, GPS positioning module, the first wireless communication are equipped in the control-rod
Module and the first power storage module, the external circumferential of the control-rod are equipped with cricoid first solar energy photovoltaic panel, the control
The top of bar is equipped with top plate, the upper surface of the top plate it is placed in the middle be equipped with signal lamp, the both sides pair of the signal lamp
What is claimed is equipped with a pair of of wind turbine, and the wind turbine is connected to the upper surface of the top plate, first control module by holder
Output end connect the signal lamp, first control module is logical by the GPS positioning module and GPS positioning satellite
Letter connection, first control module are separately connected the robot body and distal end by first wireless communication module
Activity center, first solar energy photovoltaic panel and the wind turbine are electrically connected with first power storage module, and described the
One power storage module provides operating voltage for the buoy；The robot body includes shell and several buckets that snorkel, described to snorkel
Bucket is symmetrically connected to the both sides of the shell, and the shell is fusiformis structure, is divided into control room and power house in the shell,
The power house is located at the lower section of the control room, and first partition is equipped between the power house and the control room, described dynamic
The centre of power room is equipped with propeller, and the propeller is fixed on the bottom inside of the shell, and the cardan shaft of the propeller passes through
It wears the bottom of the shell and stretches out the lower section of the shell, the bottom that the cardan shaft passes through wear-resistant seal circle and the shell
It is connected, the end of the cardan shaft is equipped with propeller, and the side of the power house is equipped with steering engine, and the steering engine is located at the shell
On the inside of the back side of body, the rudderpost of the steering engine runs through the bottom of the shell and stretches out the lower section of the shell, the rudderpost
Be connected with the bottom of the shell by wear-resistant seal circle, the end of the rudderpost is equipped with rudder blade, the power house it is another
Side is equipped with the second power storage module, and second power storage module is located at the front inside of the shell, and second power storage module is set
There are coulometric detector, the centre of the control room to be equipped with the second control module, the side of the control room is equipped with image procossing mould
Block, described image processing module are located at the front inside of the shell, and the other side of the control room is equipped with memory module, described
Memory module is located on the inside of the back side of the shell, and the second wireless communication module, second nothing are additionally provided in the control room
Line communication module is located between described image processing module and second control module, and several rotations are additionally provided in the power house
Rotating motor, the positive inside of two set on the shell of the electric rotating machine symmetrically, the rotary shaft of the electric rotating machine
Through the side of the shell and the shell is stretched out in, the side phase that the rotary shaft passes through wear-resistant seal circle and the shell
It connects, is connected on the outside of the end of the rotary shaft and the bucket that snorkels, the bucket that snorkels includes staving, is divided in the staving
For water storage room and pumping forces room, the pumping forces room is located at the lower section of the water storage room, is set between the water storage room and the pumping forces room
There is a second partition, placed in the middle in the pumping forces room to be equipped with water pump, the first water pipe of the water pump through the second partition and is stretched
Enter the water storage room, first water pipe is connected by wear-resistant seal circle with the second partition, the second water of the water pump
Pipe is through the bottom of the staving and stretches out in the staving, the bottom that second water pipe passes through wear-resistant seal circle and the staving
Portion is connected, and liquid level sensor is equipped in the water storage room, and the liquid level sensor is located at the upper surface of the second partition, institute
State shell front it is placed in the middle be equipped with camera, the front of the shell is monosymmetric to be equipped with several preceding ranging sonars, described
The back side of shell is monosymmetric to be equipped with several rear ranging sonars, and the back side of the shell is additionally provided with a pair of of sound crowder, institute
The back side that sound crowder is symmetrically located in the shell is stated, the top of the shell is equipped with the second solar energy photovoltaic panel, described
Camera, the preceding ranging sonar, the rear ranging sonar, the liquid level sensor connect described second with the memory module
The input terminal of control module, the output end of second control module are separately connected the water pump, the electric rotating machine, described push away
Into device, the steering engine, described image processing module and the sound crowder, second control module passes through second nothing
Line communication module is connected with the buoy, and second solar energy photovoltaic panel is electrically connected with second power storage module, institute
It states the second power storage module and provides operating voltage for the robot body.
2. a kind of underwater operation robot system according to claim 1, it is characterised in that：The pedestal is by polyvinyl chloride
Material is made.
3. a kind of underwater operation robot system according to claim 1, it is characterised in that：The quantity of the bucket that snorkels is extremely
It is 4 or more even number less.
4. a kind of underwater operation robot system according to claim 1, it is characterised in that：The liquid level sensor is selected
Static pressure throw-in type liquid level sensor.
5. a kind of underwater operation robot system according to claim 1, it is characterised in that：The camera selects 3D high
Clear night vision cam.
6. a kind of underwater operation robot system according to claim 1, it is characterised in that：The memory module is deposited in advance
Put the audio file of offline map packet and natural enemy of fish.
7. a kind of underwater operation robot system according to claim 1, it is characterised in that：The GPS positioning module choosing
With ET-318SiRF Star III GPS chip groups.
8. a kind of underwater operation robot system according to claim 1, it is characterised in that：First radio communication mold
Block selects 2G, 3G or 4G communications module with second wireless communication module.
9. a kind of underwater operation robot system according to claim 1, it is characterised in that：The first control module choosing
With 16 microcontroller MC95S12DJ128, second control module selects 32 ARM controller LPC1768.
10. a kind of underwater operation robot system according to claim 1, it is characterised in that：First solar energy
It is flexible unitary silicon solar photovoltaic panel to lie prostrate plate and second solar energy photovoltaic panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416458.3A CN108394539A (en) | 2018-05-03 | 2018-05-03 | A kind of underwater operation robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416458.3A CN108394539A (en) | 2018-05-03 | 2018-05-03 | A kind of underwater operation robot system |
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| Publication Number | Publication Date |
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| CN108394539A true CN108394539A (en) | 2018-08-14 |
Family
ID=63101048
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810416458.3A Withdrawn CN108394539A (en) | 2018-05-03 | 2018-05-03 | A kind of underwater operation robot system |
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| Country | Link |
|---|---|
| CN (1) | CN108394539A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161336A (en) * | 2019-05-30 | 2019-08-23 | 深圳供电局有限公司 | Detect robot |
| CN110161339A (en) * | 2019-06-03 | 2019-08-23 | 深圳供电局有限公司 | Inside transformer detects robot |
| CN110161335A (en) * | 2019-05-28 | 2019-08-23 | 深圳供电局有限公司 | Detect robot |
| CN110187207A (en) * | 2019-05-24 | 2019-08-30 | 深圳供电局有限公司 | Inside transformer detects robot |
| CN111937848A (en) * | 2020-08-27 | 2020-11-17 | 浙江省海洋水产养殖研究所 | Prawn is bird repellent device for aquaculture pond |
| CN112729403A (en) * | 2020-12-28 | 2021-04-30 | 深圳市宏电技术股份有限公司 | Control device and method for buoyage and buoyage |
| CN113252861A (en) * | 2021-06-21 | 2021-08-13 | 深之蓝(天津)水下智能科技有限公司 | Water quality detection method and device, electronic equipment and storage medium |
| CN115488900A (en) * | 2022-09-23 | 2022-12-20 | 长江生态环保集团有限公司 | Amphibious operation robot and method suitable for municipal drainage pipeline image monitoring |
-
2018
- 2018-05-03 CN CN201810416458.3A patent/CN108394539A/en not_active Withdrawn
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187207A (en) * | 2019-05-24 | 2019-08-30 | 深圳供电局有限公司 | Inside transformer detects robot |
| CN110161335A (en) * | 2019-05-28 | 2019-08-23 | 深圳供电局有限公司 | Detect robot |
| CN110161336A (en) * | 2019-05-30 | 2019-08-23 | 深圳供电局有限公司 | Detect robot |
| CN110161339A (en) * | 2019-06-03 | 2019-08-23 | 深圳供电局有限公司 | Inside transformer detects robot |
| CN111937848A (en) * | 2020-08-27 | 2020-11-17 | 浙江省海洋水产养殖研究所 | Prawn is bird repellent device for aquaculture pond |
| CN112729403A (en) * | 2020-12-28 | 2021-04-30 | 深圳市宏电技术股份有限公司 | Control device and method for buoyage and buoyage |
| CN113252861A (en) * | 2021-06-21 | 2021-08-13 | 深之蓝(天津)水下智能科技有限公司 | Water quality detection method and device, electronic equipment and storage medium |
| CN113252861B (en) * | 2021-06-21 | 2021-10-01 | 深之蓝(天津)水下智能科技有限公司 | Water quality detection method and device, electronic equipment and storage medium |
| CN115488900A (en) * | 2022-09-23 | 2022-12-20 | 长江生态环保集团有限公司 | Amphibious operation robot and method suitable for municipal drainage pipeline image monitoring |
| CN115488900B (en) * | 2022-09-23 | 2023-09-29 | 长江生态环保集团有限公司 | Amphibious operation robot and method suitable for municipal drainage pipeline image monitoring |
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Application publication date: 20180814 |