CN109050802B

CN109050802B - Wave self-adaptive unmanned water surface robot

Info

Publication number: CN109050802B
Application number: CN201810733505.7A
Authority: CN
Inventors: 熊伟; 闫舟洲; 李炯; 王海涛; 度红望; 关广丰
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2018-07-06
Filing date: 2018-07-06
Publication date: 2020-08-14
Anticipated expiration: 2038-07-06
Also published as: CN109050802A

Abstract

The invention relates to a wave self-adaptive unmanned water surface robot. The robot comprises a main body structure, a propulsion system, a buoyancy system, a suspension system and a control system, wherein the main body structure and the buoyancy system are combined to form a stable water surface platform; the suspension system is adopted on the water surface equipment for the first time, and the influence of waves on the robot is reduced through the combined action of the pitching vibration absorber and the rolling vibration absorber, so that the robot has certain wave self-adaptive capacity; meanwhile, a modular design idea is adopted, and all parts can be exchanged according to different requirements, so that the assembly and the debugging are convenient. Compared with the existing equipment, the invention has the advantages of small volume, light weight and flexible movement, can select remote control operation or manual operation switching, can be used in combination with the existing large-scale equipment, and has important popularization value.

Description

Wave self-adaptive unmanned water surface robot

Technical Field

The invention relates to offshore unmanned equipment, in particular to an unmanned water surface robot which can still finish work under the condition of heavy waves and has certain wave self-adaption capability.

Background

With the strategic development of the strong ocean countries, the shipping has been greatly developed in recent years, the activities and the work on the sea are increased day by day, and the main equipment which is operated on the sea at present is mainly a large ship for completing the transportation of people and objects on the sea. With the development of the times, the work on the sea is not only transportation, but also other tasks need to be completed, such as search and rescue, navigation, monitoring, hydrological and geographic investigation and the like, and in addition, the work on the sea also has many requirements in the military field, such as reconnaissance, detection, mine disposal, patrol and the like; in some fields, the existing ships have high use cost and certain dangerousness, other tasks need to be executed all the day long and without interruption, and the existing ships cannot perfectly meet all the requirements.

Therefore, a novel high-performance unmanned device with high navigational speed, good stability and certain load capacity is needed to fill the above requirements, and the device can better complete corresponding work through cooperative cooperation with the existing device.

Disclosure of Invention

In order to overcome the defects, the invention develops the wave self-adaptive unmanned water surface robot which has better wave resistance, does not need personnel to participate, can stably run under the condition of heavy storms, has certain load capacity, and can conveniently carry different devices according to different task requirements.

In order to achieve the purpose, the invention adopts the following technical scheme:

a wave adaptive unmanned water surface robot comprising a body structure, a propulsion system, a buoyancy system, a suspension system and a control system, wherein:

the main structure is a truss structure and comprises a main platform, the main platform is a quadrilateral structure, the truss structure is arranged on the periphery of the main platform, the middle of the main platform is an equipment cabin, corresponding working equipment is installed on the equipment cabin according to tasks executed by the robot, a control console is arranged on the equipment cabin, four corners of the main platform are respectively hinged with four groups of rocker arms, and the four groups of rocker arms are respectively hinged with a support arm;

the buoyancy system comprises four buoyancy chambers distributed on the same plane, wherein the four buoyancy chambers consist of two power chambers and two battery chambers, the two power chambers are hinged to two supporting arms behind a main platform of the main structure, the two battery chambers are hinged to two supporting arms in front of the main platform of the main structure, the two battery chambers provide power for the two power chambers, the buoyancy system provides buoyancy for the whole robot, and the buoyancy system and the main structure form a stable water surface platform;

the suspension system comprises a pitching vibration absorber and a rolling vibration absorber, wherein the pitching vibration absorber is connected between the floating cabin and the supporting arm through a hinge, and the rolling vibration absorber is connected between the rocker arm and the main platform through a hinge;

the propulsion system is arranged in the two power cabins of the buoyancy system and provides forward power for the whole robot;

the control system comprises a control console and a land base station, wherein the control console controls the propulsion system and corresponding working equipment by receiving a remote control signal of the land base station, and can also manually control the propulsion system and the corresponding working equipment to realize the offshore advancing of the robot and complete corresponding tasks.

Furthermore, the power cabin and the battery cabin of the buoyancy system are of V-shaped ship body structures, and the buoyancy system is suitable for high-speed sailing.

Furthermore, cabin internal support frameworks are arranged in the power cabin and the battery cabin of the buoyancy system, and the cabin internal support frameworks increase the structural strength and rigidity of the power cabin and the battery cabin.

Furthermore, the propulsion system comprises two groups of propulsion devices which are respectively fixed in two power cabins behind the main platform of the main body structure; every thrust unit includes a propulsion motor and a water jet propulsion ware, and the propulsion motor output shaft in every thrust unit of group passes through universal joint and connects water jet propulsion ware's input shaft, and water jet propulsion ware's spout exposes outside the piggyback pod simultaneously, and the propulsion motor is rotatory to drive water jet propulsion ware rotatory and pass through the spout blowout with water, for the robot provides the marine power of marcing, and the rotational speed difference of two propulsion motors of control system control realizes the robot and marchs turning to of in-process.

Furthermore, the nozzle angle of the water-jet propeller can be adjusted, the nozzle angle adjusting range is +/-25 degrees in the horizontal direction, and the steering of the robot in the advancing process is realized by changing the nozzle angle of the water-jet propeller.

Furthermore, the suspension system also comprises a limiting rod, the upper end of the limiting rod is hinged with the upper part of the rocker arm, and the lower end of the limiting rod is hinged with the lower part of the rocker arm so as to limit the distance between the upper part and the lower part of the rocker arm and achieve the limiting effect.

Furthermore, the pitching vibration absorber is connected between the buoyancy chamber and the supporting arm of the buoyancy system through a hinge, and the rolling vibration absorber is connected between the rocker arm and the main platform through a hinge; one end of the pitching vibration absorber is connected with the supporting arm through a hinge, and the other end of the pitching vibration absorber is connected with the floating cabin through a hinge, so that the floating cabin can be inclined by 5-10 degrees with the horizontal plane in the length direction of the floating cabin, namely, the head of the floating cabin can be lifted by 5-10 degrees in the vertical direction, and pitching of the robot in the traveling process is reduced; one end of the rolling vibration absorber is connected with the main platform through a hinge, the other end of the rolling vibration absorber is connected with the lower portion of the rocker through a hinge, the rocker can rotate within a range of +/-30 degrees along a hinge shaft of the rocker and a horizontal plane in the vertical direction, and rolling of the robot in the advancing process is reduced, so that the robot is guaranteed to meet waves to keep the stability of the main platform when advancing on the water surface, and wave self-adaptive capacity of a certain degree is obtained.

The invention realizes the remote control of the unmanned water surface robot at the land base station through the control system, and the control system can simultaneously control the propulsion system and the corresponding working equipment, thereby realizing the motion of the unmanned water surface robot and completing the corresponding tasks; the invention can be combined with the existing large-scale equipment for use, and can also be used for cooperative work of a plurality of robot clusters through air drop of an amphibious aircraft or delivery of a large-scale ship, thereby improving the working efficiency.

Compared with the prior art, the invention has the following advantages:

1. compared with the existing equipment, the device has the advantages of small volume, light weight, flexible movement, remote control operation and manual operation, no personnel participation in the remote control operation, high safety and high flexibility in switching the manual operation under special conditions;

2. the main structure and the buoyancy system are combined to form a stable water surface platform, and a mode of four floating cabins in a separated layout is adopted, so that the running stability of the robot on the water surface is greatly improved, and the working capacity under the condition of high wind and waves is improved;

3. the suspension system is adopted on the water surface equipment for the first time, and the influence of waves on the robot is reduced through the combined action of the pitching vibration absorber and the rolling vibration absorber, so that the robot has certain wave self-adaptive capacity;

4. the invention adopts a modular design idea, and all parts can be interchanged according to different requirements, thereby facilitating assembly and debugging;

5. the invention can be combined with the existing large-scale equipment for use, can be launched by an amphibious aircraft, can be launched by a large-scale ship, and can also be cooperatively worked by a plurality of robot clusters, thereby improving the working efficiency.

The unmanned water surface robot provided by the invention has the advantages of high stability, high sailing speed and important popularization value, and can carry different equipment to complete different work according to different task requirements.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a wave adaptive unmanned water surface robot in embodiment 1 of the present invention;

fig. 2 is an external view of a power bay of the wave adaptive unmanned water surface robot in embodiment 1 of the present invention;

fig. 3 is an internal view of a wave adaptive unmanned water surface robot power cabin in embodiment 1 of the present invention;

in the figure: 1. the power cabin comprises a power cabin body, 2, a pitching vibration absorber, 3, a supporting arm, 4, a limiting rod, 5, a rocker arm, 6, a rolling vibration absorber, 7, a main platform body, 8, an equipment cabin body, 9, a control console, 10, a battery cabin body, 11, a water jet propeller, 12, a universal coupling, 13, an in-cabin supporting framework, 14 and a propulsion motor.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, then it will be described as "on" another device or configuration

A device that is above or "on" other devices or configurations will then be oriented "under" or "beneath" its own device or configuration. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

Example 1

As shown in fig. 1, a wave adaptive unmanned water surface robot comprises a main body structure, a propulsion system, a buoyancy system, a suspension system and a control system; wherein:

the main structure is composed of a main platform 7, four groups of rocker arms 5 and four support arms 3, the main platform 7 is of a quadrilateral structure and can be designed into quadrilateral structures such as a square structure, a rectangle structure, a diamond structure, a trapezoid structure and the like according to needs, in the embodiment, the main platform 7 is designed into the rectangular structure, the periphery of the rectangle structure is provided with a truss structure, an equipment cabin 8 is formed in the middle space, corresponding equipment is installed on the equipment cabin 8 according to tasks executed by the robot, meanwhile, a control console 9 is arranged on the equipment cabin 8, four corners of the main platform 7 are respectively hinged with the four groups of rocker arms 5, the four groups of rocker arms 5 are respectively hinged with the four;

the buoyancy system is composed of four buoyancy chambers which are distributed on the same plane and have V-shaped sections, the four buoyancy chambers are composed of two power chambers 1 and two battery chambers 10, as shown in figure 3, the power chambers 1 and the battery chambers 10 are V-shaped ship bodies and are suitable for high-speed navigation, an in-chamber support framework 13 is arranged in the power chambers 1 and the battery chambers 10 of the buoyancy system, and the in-chamber support framework 13 increases the structural strength and rigidity of the power chambers 1 and the battery chambers 10. The two power cabins 1 are hinged to two supporting arms 3 behind a main structure main platform 7, the two battery cabins 10 are hinged to the two supporting arms 3 in front of the main structure main platform 7, batteries in the two battery cabins 10 transmit electric power to a propulsion motor 14 in the power cabins 1 through a wire to provide power for the whole system, the buoyancy system provides buoyancy for the whole robot, and the buoyancy system and the main structure form a stable water surface platform;

the suspension system comprises a pitching vibration absorber 2 and a rolling vibration absorber 6, wherein the pitching vibration absorber 2 is connected between a floating cabin and a supporting arm 3 of the buoyancy system through a hinge, namely one end of the pitching vibration absorber 2 is connected with the supporting arm 3 through a hinge, and the other end of the pitching vibration absorber is connected with the floating cabin through a hinge, so that the floating cabin can be inclined by 5-10 degrees with the horizontal plane along the length direction of the floating cabin, namely the head of the floating cabin can be lifted by 5-10 degrees in the vertical direction, and the pitching of the robot in the traveling process is reduced; the roll vibration damper 6 is connected between the rocker arm 5 and the main platform 7 through a hinge, namely one end of the roll vibration damper 6 is connected with the main platform 7 through a hinge, and the other end of the roll vibration damper is connected with the lower part of the rocker arm 5 through a hinge, so that the rocker arm 5 can rotate within a range of +/-30 degrees along a hinge shaft of the rocker arm and the platform 7 in the vertical direction, and the roll of the robot in the process of traveling is reduced. The pitching vibration absorber 2 and the rolling vibration absorber 6 ensure that the robot meets the waves to keep the stability of the main platform when the robot travels on the water surface, and the wave self-adaptive capacity of a certain degree is obtained. Meanwhile, the suspension system further comprises a limiting rod 4, the upper end of the limiting rod 4 is hinged to the upper portion of the rocker arm 5, and the lower end of the limiting rod 4 is hinged to the lower portion of the rocker arm 5 so as to limit the distance between the upper portion and the lower portion of the rocker arm 5 and achieve the limiting effect.

The propulsion system comprises two groups of propulsion devices which are respectively fixed in the two power cabins 1 behind the main platform 7 of the main body structure; as shown in fig. 2, each group of propulsion devices comprises a

propulsion motor

14 and 1 water jet propeller 11, an output shaft of the propulsion motor 14 in each group of propulsion devices is connected with an input shaft of the water jet propeller 11 through a universal coupling 12, a nozzle of the water jet propeller 11 is exposed out of the power cabin 1 and has an adjustable angle, the propulsion motor 14 rotates to drive the water jet propeller 11 to rotate to spray water out through the nozzle, marine traveling power is provided for the robot, the nozzle angle adjusting range is +/-25 degrees in the horizontal direction, and steering in the traveling process of the robot can be realized by changing the nozzle angle of the water jet propeller 11; steering during robot traveling can also be realized by controlling the rotation speed of the two propulsion motors 14 to be different through the control system. The propulsion system provides forward power for the whole robot;

the control system comprises a control console 9 and a land base station, the control console 9 controls the propulsion system and corresponding equipment installed in the equipment cabin 8 by receiving a remote control signal of the land base station, and the control console 9 can also manually control the propulsion system and corresponding working equipment to realize the offshore advancing of the robot and complete corresponding tasks.

The invention has small volume, light weight and flexible movement, effectively increases the distribution area by adopting a mode of separated layout of four floating cabins, greatly increases the running stability of the robot on the water surface, and simultaneously applies a suspension system to ensure that the robot can reduce the influence of waves on the main platform when the robot travels and works on the water surface, keeps the stability of the main platform, has certain wave self-adaptive capacity, improves the working capacity under the condition of heavy waves and can better complete corresponding tasks. The invention adopts a modular design idea, and parts of the main structure, the propulsion system, the buoyancy system and the suspension system can be interchanged according to different requirements, so that the assembly and the debugging are convenient; the unmanned surface robot can be used in combination with existing large-scale equipment, can be launched by an amphibious aircraft and a large-scale ship, can also work cooperatively by a plurality of robot clusters, and can complete corresponding tasks safely and effectively without personnel participation through remote control operation.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wave adaptive unmanned water surface robot, comprising a main body structure, a propulsion system, a buoyancy system, a suspension system and a control system, wherein:

the robot comprises a main body structure which is a truss structure and comprises a main platform (7), wherein the main platform (7) is of a quadrilateral structure, the periphery of the main platform is of the truss structure, the middle of the main platform is provided with an equipment cabin (8), corresponding working equipment is installed on the equipment cabin (8) according to tasks executed by the robot, a control platform (9) is arranged on the equipment cabin (8), four corners of the main platform (7) are respectively hinged with four groups of rocker arms (5), and the four groups of rocker arms (5) are respectively hinged with a support arm (3);

the buoyancy system comprises four buoyancy chambers distributed on the same plane, wherein the four buoyancy chambers consist of two power chambers (1) and two battery chambers (10), the two power chambers (1) are hinged to two supporting arms (3) behind a main structure main platform (7), the two battery chambers (10) are hinged to the two supporting arms (3) in front of the main structure main platform (7), the two battery chambers (10) provide power for the two power chambers, the buoyancy system provides buoyancy for the whole robot, and the buoyancy system and the main structure form a stable water surface platform;

the suspension system comprises a pitching vibration absorber (2) and a rolling vibration absorber (6), wherein the pitching vibration absorber (2) is connected between the floating cabin and the supporting arm (3) through a hinge, and the rolling vibration absorber (6) is connected between the rocker arm (5) and the main platform (7) through a hinge;

the propulsion system is arranged inside the two power cabins (1) of the buoyancy system and provides forward power for the whole robot;

the control system comprises a console (9) and a land base station, the console (9) controls the propulsion system and corresponding working equipment by receiving a remote control signal of the land base station, and the console (9) can also manually control the propulsion system and the corresponding working equipment to realize the offshore advancing of the robot and complete corresponding tasks;

the pitching vibration damper (2) is connected between a floating cabin of the buoyancy system and the supporting arm (3) through a hinge, and the rolling vibration damper (6) is connected between the rocker arm (5) and the main platform (7) through a hinge; one end of the pitching vibration absorber (2) is connected with the supporting arm (3) through a hinge, and the other end of the pitching vibration absorber is connected with the floating cabin through a hinge, so that the head of the floating cabin can be lifted by 5-10 degrees in the vertical direction, and pitching of the robot in the traveling process is reduced; one end of the rolling vibration absorber (6) is connected with the main platform (7) through a hinge, the other end of the rolling vibration absorber is connected with the lower part of the rocker arm (5) through a hinge, the rocker arm (5) can rotate within a range of +/-30 degrees along a hinge shaft of the rocker arm and the platform (7) in the vertical direction, and rolling of the robot in the advancing process is reduced, so that the robot is guaranteed to meet waves to keep the stability of the main platform when advancing on the water surface, and the wave self-adaptive capacity of a certain degree is obtained.

2. The wave adaptive unmanned surface robot of claim 1, wherein the propulsion system comprises two sets of propulsion devices, the two sets of propulsion devices are respectively fixed in two power cabins (1) behind a main platform (7) of the main structure; every group advancing device includes a propulsion motor (14) and a water jet propulsion ware (11), the input shaft of water jet propulsion ware (11) is connected through universal joint (12) to propulsion motor (14) output shaft among every group advancing device, the spout of water jet propulsion ware (11) exposes outside in power compartment (1) simultaneously, propulsion motor (14) are rotatory to be driven water jet propulsion ware (11) and are rotatory to pass through the spout blowout with water, for the robot provides the power of marcing on the sea, the rotational speed difference through two propulsion motor (14) of control system control realizes the robot and marcs the steering of in-process.

3. The wave adaptive unmanned water surface robot of claim 2, wherein the nozzle angle of the water jet propeller (11) can be adjusted, the nozzle angle adjustment range is +/-25 degrees in the horizontal direction, and the steering of the robot in the traveling process is realized by changing the nozzle angle of the water jet propeller (11).

4. The wave adaptive unmanned water surface robot of claim 1, wherein the suspension system further comprises a limiting rod (4), the upper end of the limiting rod (4) is hinged with the upper part of the rocker arm (5), and the lower end of the limiting rod (4) is hinged with the lower part of the rocker arm (5) to limit the distance between the upper part and the lower part of the rocker arm (5) so as to limit the position.

5. The wave adaptive unmanned surface robot of claim 1, wherein the power cabin (1) and the battery cabin (10) of the buoyancy system are of a V-shaped hull structure suitable for high-speed sailing.

6. The wave adaptive unmanned on water surface robot of claim 1, wherein an intra-cabin support framework (13) is arranged in the power cabin (1) and the battery cabin (10) of the buoyancy system, and the intra-cabin support framework (13) increases the structural strength and rigidity of the power cabin (1) and the battery cabin (10).