CN110341912A - A kind of underwater steel construction surface marine growth cleaning robot and its dive control method - Google Patents
A kind of underwater steel construction surface marine growth cleaning robot and its dive control method Download PDFInfo
- Publication number
- CN110341912A CN110341912A CN201910555678.9A CN201910555678A CN110341912A CN 110341912 A CN110341912 A CN 110341912A CN 201910555678 A CN201910555678 A CN 201910555678A CN 110341912 A CN110341912 A CN 110341912A
- Authority
- CN
- China
- Prior art keywords
- reflecting mirror
- cleaning robot
- steel construction
- marine growth
- construction surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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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
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
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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
-
- 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
Abstract
The present invention relates to a kind of underwater steel construction surface marine growth cleaning robot and its dive control methods, belong to deep ocean work robotic technology field.Cleaning robot includes running gear and reflective omnidirectional imaging system and operating system；Reflective omnidirectional imaging system includes the reflecting mirror and camera supported by mounting bracket；Running gear includes propeller；Mounting bracket is adjusted the pose of reflecting mirror with being controlled by control system；During control propeller drives the marine growth cleaning robot dive of underwater steel construction surface, the posture of control mounting bracket adjustment reflecting mirror, so that reflecting mirror constitutes underwater steel construction surface marine growth cleaning robot in the tail vane of dive process.Can be during dive, the pose for adjusting reflecting mirror serves as the function of tail vane, effectively improves the stability of the Fast marching of cleaning robot, can be widely applied to the fields such as the steel structure surfaces such as offshore oil pipeline cleaning.
Description
Technical field
The present invention relates to a kind of underwater operation robots, specifically, it is clear to be related to a kind of underwater steel construction surface marine growth
Wash robot and its dive control method.
Background technique
It is difficult to clean for underwater steel constructions surfaces such as bottom of ship, marine drilling platform pipelines, and artificial cleaning is not only
Working efficiency is low, and there are major safety risks, and applicant has applied for that a kind of underwater steel construction surface marine growth is cleared up
Robot comprising the running gear being affixed on steel structure surface can be inhaled, be mounted in the running gear for obtaining robot
The imaging system of side environmental aspect, and the fuselage side of the running gear is mounted in for carrying out to steel structure surface marine growth
The cleaning system of cleaning, the patent document that specific structure is CN206476068U see notification number.
To keep the range of observation of imaging system bigger, applicant has applied for a kind of water with reflective omnidirectional imaging system
Lower steel structure surface Work robot；Wherein, reflective omnidirectional imaging system includes reflecting mirror and camera: reflecting mirror passes through branch
Frame is supported on rack on the side of steel structure surface, and the normal direction of reflecting surface is directed toward steel structure surface；Camera is water-tightly
It is fixed on the rack, the image reflected for receiving reflecting mirror, the received image of institute is steel structure surface around work machine
The scene image in the avris region of people's surrounding, the avris region include the current work area of Work robot, and specific structure please join
See that notification number is the patent document of CN207510681U.
Make it during dive, floating and larger displacement uniform velocity, there are problems that being easy shaking, in addition, it need to be borrowed
It helps the steel pipe for extending to target job place from sea that can just march to locating for target field, causes entire control process more multiple
It is miscellaneous.Furthermore it can be improved range of observation although being additionally arranged reflecting mirror, applicant is in use, it is often necessary to mobile
Robot is to observe the scene except the range that the reflecting mirror can be taken into account.
Summary of the invention
The main object of the present invention is to provide a kind of underwater steel construction surface marine growth cleaning robot, can not only be without borrowing
It helps steel pipe that can manage it to target at as place, and can be reduced shifting of the reflecting mirror on reflective panoramic imagery to cleaning robot
The influence of movement；
It is suitable for above-mentioned underwater steel construction surface marine growth cleaning robot it is a further object of the present invention to provide one kind to use
Dive control method；
Another object of the present invention is to provide a kind of underwater steel construction surface marine growth cleaning robot, in not moving machine
It, being capable of the field range that can observe of raising reflecting mirror as far as possible under the premise of device people.
In order to achieve the above-mentioned main objectives, underwater steel construction surface marine growth cleaning robot provided by the invention includes row
Walking system and the control system being mounted in the rack of running gear, reflective omnidirectional imaging system and operating system；It is reflective
Omnidirectional imaging system includes the reflecting mirror that rack is supported on by mounting bracket on the side of steel structure surface, and water-tightly
It is fixed on the rack and for receiving the camera of the image that reflecting mirror is reflected；Running gear includes propulsion system, promotes system
System includes the propeller for driving the pose of underwater steel construction surface marine growth cleaning robot to adjust, go up and down and retreat；Peace
Dress bracket is adjusted the pose of reflecting mirror with being controlled by control system；Control system includes processor and memory, storage
Device is stored with computer program, and dive step is able to achieve when computer program is executed by processor, and dive step is included in control
During propeller drives the marine growth cleaning robot dive of underwater steel construction surface, control mounting bracket adjustment reflecting mirror
Posture, so that reflecting mirror constitutes underwater steel construction surface marine growth cleaning robot in the tail vane of dive process.
By adding the propulsion system that can be taken down the exhibits, not only using the propulsion system of expansion drive robot in the seawater under
The movement of latent or floating without can manage it to target at as place by extending steel pipe, and on float back at sea；And it can make
The quick adjustment of carry out target place quick-replaceable and pose during industry, effectively improves operating efficiency.And it is anti-based on changing
It penetrates the posture of mirror and serves as tail vane, rough sledding is converted into vantage and improves its stability advanced.
It includes supporting support that specific scheme, which is mounting bracket, and reflecting mirror is rockably mounted to by wobble drive axis
In supporting support, oscillatory gearing mechanism is installed, oscillatory gearing mechanism is for driving reflecting mirror is opposite to support branch in supporting support
Frame, the central axis around wobble drive axis are swung.
It is lifting type support that more specific scheme, which is supporting support, for adjusting the spacing between reflecting mirror and rack.
Further embodiment is that lifting type support includes scissor type telescopic mechanism and for driving scissor type telescopic mechanism dynamic
The driving device of work, two sets of scissor type telescopic mechanisms are symmetrically arranged at the two sides of reflecting mirror.
Another specific scheme be reflecting mirror include can be pieced together at joint close plane planar panel structure the first son it is anti-
Penetrate mirror and the second sub- reflecting mirror；Mounting bracket includes the adjustment bracket for being independently adjustable single sub- reflecting mirror.
More specific scheme is that the first sub- reflecting mirror is arranged symmetrically with the second sub- reflecting mirror about joint close plane；Adjust bracket
For multi-spindle machining hand；Multi-spindle machining hand includes the base support being fixedly connected with rack, the installation being fixedly connected with sub- reflecting mirror
Bracket, the connecting bracket for being rotatably connected by wobble drive axis and the two, and for driving wobble drive axis to rotate
Oscillatory gearing mechanism.
It includes propulsion system that preferred scheme, which is running gear, and propulsion system includes being symmetrically mounted at the both sides of rack
On propeller unit, propeller unit includes the first lifting propeller, second that bracket and being mounted on takes down the exhibits on bracket of taking down the exhibits
Propeller, the first lateral inclined push type propeller and the second lateral inclined push type propeller, two lateral inclined push type propellers are gone up and down to push away
The angle greater than zero degree is folded into direction；Bracket of taking down the exhibits includes the fixing sleeve cylinder base being fixed on the rack, and is covered to clearance fit
Drive shaft in fixing sleeve cylinder base, rotation drive device and straight-line displacement output device；First lifting propeller and first
Lateral inclined push type propeller is fixedly connected by attaching plate elements with the one end of drive shaft, and the second lifting propeller and second is laterally
Inclined push type propeller is fixedly connected by attaching plate elements with the other end of drive shaft；Fixing sleeve cylinder base is equipped with to be connected for exposure
The barrel notch of fishplate bar part, barrel notch, which is equipped with, to be arranged side by side and blocks along the first bayonet of drive shaft axially arranged and second
Mouthful；Straight-line displacement output device drives attaching plate elements to be caught in bayonet by drive shaft is limited the rotation of drive shaft, or moves back
Out bayonet and can be rotated drive shaft；Rotation drive device is for driving attaching plate elements from the lateral position that can be caught in the first bayonet
It is rotated by 90 ° upward to the vertical position that can be caught in the second bayonet.
It includes magnet-wheel system that preferred scheme, which is running gear, and magnet-wheel system includes that can be magneted on steel structure surface
Magnet-wheel；Lifting is installed in rack and pushes away mechanism, lifting push away mechanism include the cushion block being used to support on steel structure surface and
Drive cushion block with respect to the straight-line displacement output device that magnet-wheel is gone up and down, the straight-line displacement output device is for driving magnet-wheel to be detached to steel
Body structure surface.
In order to achieve the above-mentioned another object, the present invention is provided under a kind of underwater steel construction surface marine growth cleaning robot
Latent control method, the underwater steel construction surface marine growth cleaning robot include the reflective panorama of rack and carrying on the rack
Imaging system, reflective omnidirectional imaging system include the reflecting mirror by mounting bracket support on the rack, and running gear includes
Propeller for driving the pose of underwater steel construction surface marine growth cleaning robot to adjust, go up and down and retreat, dive control
Method includes:
During control propeller drives the marine growth cleaning robot dive of underwater steel construction surface, mounting bracket is controlled
The posture of reflecting mirror is adjusted, so that reflecting mirror constitutes underwater steel construction surface marine growth cleaning robot in the tail of dive process
Rudder.
Specific scheme is that dive control method includes controlling mounting bracket to adjust between vertical between reflecting mirror and rack
Away from.
Detailed description of the invention
Fig. 1 is that the embodiment of the present invention 1 is in unfolded state in propulsion system and reflecting mirror is in the perspective view of retracted position；
Fig. 2 is that the embodiment of the present invention 1 is in unfolded state in propulsion system and reflecting mirror is in the side view of retracted position；
Fig. 3 is the solid when mounting bracket is in contraction state of reflecting mirror and mounting bracket in the embodiment of the present invention 1
Figure；
Fig. 4 is the solid when mounting bracket is in extended state of reflecting mirror and mounting bracket in the embodiment of the present invention 1
Figure；
Fig. 5 is perspective view of the propulsion system in unfolded state and when attaching plate elements is not caught in bayonet in the embodiment of the present invention 1；
Fig. 6 is perspective view of the propulsion system in unfolded state and when attaching plate elements is caught in bayonet in the embodiment of the present invention 1；
Fig. 7 is perspective view of the propulsion system in retracted state and when attaching plate elements is not caught in bayonet in the embodiment of the present invention 1；
Fig. 8 is that the embodiment of the present invention 1 is in retracted state in propulsion system and attaching plate elements is not caught in bayonet, and reflecting mirror
Perspective view when in imaging position；
Fig. 9 is the C partial enlarged view in Fig. 8；
Figure 10 is the D partial enlarged view in Fig. 8；
Figure 11 is the knot of the bindiny mechanism of the rotation drive device taken down the exhibits on bracket in the embodiment of the present invention 1 and driving between centers
Structure exploded view；
Figure 12 is the solid of reflecting mirror and mounting bracket after mirror tilt predetermined angular in the embodiment of the present invention 1
Figure；
Figure 13 is the solid when mounting bracket is in extended state of reflecting mirror and mounting bracket in the embodiment of the present invention 2
Figure；
Figure 14 is in contraction-like in the mounting bracket that propulsion system is in unfolded state and reflecting mirror for the embodiment of the present invention 2
Perspective view when state.
With reference to embodiments and its attached drawing the invention will be further described.
Specific embodiment
The present invention mainly improves and to anti-the structure of running gear in underwater steel construction robot operated on surface
The mounting support structure of omnidirectional imaging system improves when penetrating, i.e., by adding the propulsion system that can be taken down the exhibits, to utilize propulsion
While rising go back to sea at system autonomous dive to target job place or from Work places, the underwater work of robot is improved
Pose adjustment or the flexibility in replacement target job place and efficiency during industry, and utilize mounting bracket adjustment reflecting mirror
Pose, to improve the stabilization to float, in dive and steering procedure；Imaging system, operating system and Running System in Work robot
Magnet-wheel and its driving device in system can be used existing product structure and be designed, it is not limited to the knot in following embodiments
Structure.
Embodiment 1
Referring to Fig. 1 to Figure 12, underwater steel construction marine growth of the present invention cleaning robot 1 include control system, running gear,
Operating system, reflective omnidirectional imaging system and lifting push away mechanism.Running gear includes propulsion system and magnet-wheel system.
Magnet-wheel system is four-wheel drive structure, including rack 10 and the forerunner's adsorption module 11 being mounted in rack 10, is turned
To module, rear-guard adsorption module 13 and rotary joint, forerunner's adsorption module 11 is used to mention for robot with rear-guard adsorption module 13
For be adsorbed onto enough steel construction catheter surface adsorption capacity and onward impulse and retreat power.For forerunner's adsorption module 11 with after
Adsorption module 13 is driven, the two is equipped in structure for entire module to be adsorbed in the magnet-wheel in steel tube surface, and including by two
The driving magnet-wheel group of a above magnet-wheel composition, and every group of magnet-wheel group is driven by independent servo motor, bigger driving can be provided
Power, and when front-wheel or rear-wheel have skidded and fail, another magnet-wheel group can still work normally, and provide more for underwater robot
Stable and reliable motion-promotion force.Specific structure can refer to applicant applied and disclosed Publication No. CN108082415A and
Notification number is the patent document of CN206476068U, and details are not described herein.
As shown in Figures 1 and 2, operating system is the cleaning system for being cleaned to pipe surface marine growth, at this
In embodiment, cleaning system includes Cleaning Technology Based On Cavitation Water Jet module 2 and for supplying water to Cleaning Technology Based On Cavitation Water Jet module 2
Umbilical cables, Cleaning Technology Based On Cavitation Water Jet module 2 are installed in the side in rack 10 and being located at rack 10, with clear using cavitating water jet
The cavitating water jet cleaning underwater steel construction surface that mold cleaning block 2 generates is located in cleaning robot, preset width range areas, side
Marine growth.
As shown in Figure 1 to Figure 4, shown in Fig. 8 and Figure 12 shown in, reflective omnidirectional imaging system include reflecting mirror 30, camera 31,
Light compensating apparatus and reflecting mirror mounting bracket 33 for being installed in reflecting mirror 30 in rack 10；For reflecting mirror 30, camera
31 and light compensating apparatus, their specific structure can refer to applicant applied and disclosed Publication No. CN108082415A it is special
Sharp document, details are not described herein.Reflecting mirror 30 is used for the scene in the avris region within the scope of robot surrounding preset width is anti-
It is incident upon and is received by camera 31, to form scene image, and the preset width range makes avris region just cover robot
Current work region or slightly above current work region, to guarantee to observe operating condition in real time.
Wherein, mounting bracket 33 is lifting type support, including two sets of scissor type telescopic mechanisms 331, is individually cut for driving
The driving device that V shape telescoping mechanism 331 acts, and the rectangle being fixed on the telescopic end of two sets of scissor type telescopic mechanisms 331
Installation frame 338；In this implementation on the telescopic end of scissor type telescopic mechanism 331, the end of one yoke 333 passes through swing
Drive shaft 334 is hinged in the lower end side of rectangle installation frame 338, and the end of another yoke 335 is hinged on directly by hinged shaft 336
On the sliding block 3370 of line guide rail mechanism 337, the linear guide of the guiding rail mechanism 337 is fixed on rectangle installation frame 338
On downside, and its length direction is arranged in parallel along the side of rectangle installation frame 338；In the fixation of V shape telescoping mechanism 331
On end, the end of one yoke 90 is hinged in the upper end side of rack 10 by wobble drive axis 91, the end of another yoke 92
Portion is hinged on the mover 940 of straight-line displacement output device 94 by hinged shaft 93, and the stator of the straight-line displacement output device 94 is solid
It is scheduled on the upper surface of rack 10, and its length direction is arranged along the rail length direction of guiding rail mechanism 337.Worked
Cheng Zhong drives the end of yoke 92 to move back and forth by straight-line displacement output device 94, drives scissor type telescopic machine to realize
The expanding-contracting action of structure 331, i.e. straight-line displacement output device constitute the driving dress for being previously used for the movement of scissor type telescopic mechanism 331
It sets.Aforementioned scissor type telescopic structure is not limited to for the specific structure of lifting type support, the structure of telescopic rod also can be used
It is constructed.Scissor type telescopic mechanism 331 constitutes the supporting support in the present embodiment.
In the present embodiment, rectangle installation frame 338 is arranged along the horizontal, and reflecting mirror 30 can by wobble drive axis 3391
It is rotatably mounted on the middle part of the frame of rectangle installation frame 338, and is equipped on a frame of rectangle installation frame 338
Steering engine 3392 for driving wobble drive axis 3391 to rotate, specifically, the both ends of wobble drive axis 3391 are rotationally pacified
Mounted in the middle part of the frame of rectangle installation frame 338, the non-reflecting surface of reflecting mirror 30 passes through connector 3393 and wobble drive axis
3391 are fixedly connected；The angular transducer of steering engine 3392 detects signal to control system output angle, in order to control system pair
The adjustment of its swing angle.In above-mentioned Fig. 2 into Fig. 4, Fig. 8 and Figure 12, omit for driving 3391 turns of wobble drive axis
Dynamic steering engine.
In the present embodiment, the center line of wobble drive axis 3391 crosses first plane of symmetry and parallel mirror of reflecting mirror 30
Plate face；The normal direction of first plane of symmetry and the normal direction of mirror surface are perpendicular, and cross the side center of rectangle mirror surface；Specifically, work as rectangle
When the reflecting surface of the reflecting mirror 30 of shape is arranged along the horizontal, vertically, camera 31 is located at the underface at the center of reflecting mirror 30
At position, reflecting mirror 30 swing during, camera 31 can receive always mirror center position extend outwardly to
The range that camera visual angle can be radiated.
Propulsion system includes two groups of propeller units 18 being symmetrically mounted on the both sides of rack, the plane of symmetry of the two
For normal direction along forerunner's adsorption module 11 and rear-guard adsorption module 13 vertical face from wheel shaft to arrangement.Propeller unit 18 includes position
Taking down the exhibits above the magnet-wheel of forerunner's adsorption module 11 and rear-guard adsorption module 13 and is mounted on first to take down the exhibits on bracket at bracket 4
It goes up and down propeller 51, second and goes up and down the lateral inclined push type propeller 53 of propeller 52, first and the second lateral inclined push type propeller 54,
The direction of propulsion of first lateral inclined push type propeller 53 and the second lateral inclined push type propeller 54 folds into the angle greater than zero degree,
In the present embodiment, which is 90 degree, specifically the first lateral inclined push type propeller 53 and the second lateral inclined push type propeller
In angle of 45 degrees, only the two direction is different for 54 direction of propulsion and the aforementioned plane of symmetry.
Bracket 4 of taking down the exhibits includes the fixing sleeve cylinder base 6 being fixed in rack 10, is sleeved on to clearance fit fixing sleeve cylinder base 6
Interior drive shaft 40, rotation drive device 41 and straight-line displacement output device 42.In the present embodiment, rotation drive device 41
It is constructed using steering engine, can be monitored using angular transducer thereon to the angular position of output shaft；Straight-line displacement
Output device 42 is constructed using linear motor, or is carried out using rotating electric machine and leading screw and nut mechanism or gear and rack teeth mechanism
Building.
The direction of forerunner's adsorption module 11 is directed toward along rear-guard adsorption module 13, the first lifting propeller 51 and the first transverse direction are tiltedly
Pushing-type propeller 53 is fixedly connected by attaching plate elements 7 with the front end of drive shaft 40；Second lifting propeller 52 and the second cross
It is fixedly connected to inclined push type propeller 54 by attaching plate elements 8 with the rear end of drive shaft 40；For attaching plate elements 7 and connecting plate
Connection structure between part 8 and drive shaft 40 can be used the modes such as welding, bolt fixation, or set on the end of attaching plate elements
There is the tube-in-tube structure being sleeved in drive shaft 40, then be fixedly connected based on fixing bolt, welding or keyway, in the present embodiment
In, it is fixedly connected using welding manner.
The direction arrangement that forerunner's adsorption module 11 is directed toward axially along rear-guard adsorption module 13 of fixing sleeve cylinder base 6, and it is parallel
In the aforementioned plane of symmetry；In the present embodiment, drive shaft 40 is right circular cylinder structure, and the cross section of fixing sleeve cylinder base 6 is rectangle,
Its interior barrel chamber is the cylindrical structure with 40 clearance fit of drive shaft of straight circular cylinder type, so that drive shaft 40 can not only fix set relatively
Cylinder base 6 is axially moveable, and can center axis thereof.
It is equipped with the barrel notch 60 for exposing attaching plate elements 7 on fixing sleeve cylinder base 6 and is used to expose attaching plate elements 8
Barrel notch 61；It is equipped with and is arranged side by side and along the first bayonet 601 of drive shaft 40 axially arranged and the on barrel notch 60
Two bayonets 602 are equipped on barrel notch 61 and are arranged side by side and along the first bayonet 611 and second of drive shaft 40 axially arranged
Bayonet 612.Specifically, the exposure for being connected to and constituting barrel notch 60,61 is equipped on the adjacent two sides of fixing sleeve cylinder base 6
Mouthful；First bayonet 601,611 is set on side wall 62 elevationally outward, and the second bayonet 602,612 is set in upside lateral sidewalls 63.
As shown in figure 9, attaching plate elements 7 includes perpendicular root web portion 70 and bending web portion 71, the first lifting
The direction of propulsion of propeller 51 perpendicular to plate face is fixed in root web portion 70, in particular, in root web portion 70
Equipped with the through-hole 700 for installing the first lifting propeller 51, root web portion 70 be located at bending extension by the side of through-hole 700 and
It is formed with the mounting plate portion 72 perpendicular with its plate face, the sleeve of the first lifting propeller 51 is fixed in mounting plate portion 72；The
The direction of propulsion of one lateral inclined push type propeller 53 is fixed in bending web portion 71 with being parallel to plate face, i.e., in propulsion system
When expansion, the plate face of root web portion 70 along the lateral arrangement perpendicular to the aforementioned plane of symmetry, the plate face normal direction of mounting plate portion 72 with
The parallel arrangement of the normal direction of the aforementioned plane of symmetry, and the plate face normal direction of bending web portion 71 and the normal direction of the aforementioned plane of symmetry are at 45 degree
Angle.
As shown in Figure 10, attaching plate elements 8 includes perpendicular root web portion 80 and bending web portion 81, the second lifting
The direction of propulsion of propeller 52 perpendicular to plate face is fixed in root web portion 80, in particular, in root web portion 80
Equipped with the through-hole 800 for installing the second lifting propeller 52, root web portion 80 be located at bending extension by the side of through-hole 800 and
It is formed with the mounting plate portion 82 perpendicular with its plate face, the sleeve of the second lifting propeller 52 is fixed in mounting plate portion 82；The
The direction of propulsion of two lateral inclined push type propellers 83 is fixed in bending web portion 81 with being parallel to plate face, i.e., in propulsion system
When expansion, the plate face of root web portion 80 along the lateral arrangement perpendicular to the aforementioned plane of symmetry, the plate face normal direction of mounting plate portion 82 with
The parallel arrangement of the normal direction of the aforementioned plane of symmetry, and the plate face normal direction of bending web portion 81 and the normal direction of the aforementioned plane of symmetry are at 45 degree
Angle.
As shown in figure 11, for the ease of straight-line displacement output device 42 in the process for driving drive shaft 40 to be axially moveable
In, the position of rotation drive device 41 does not have to move, and is and driving to rotation drive device 41 using gear drive
One end of axis 40 is sequentially connected；And the mover of straight-line displacement output device 42 is fixedly connected with the other end of drive shaft 40.
The gear drive is and include the keyway arrangements being made up of the keyway on the rotating output shaft 410 by flat key 161 and steering engine
The straight cylinder gear 171 being sleeved on outside rotating output shaft 410, and can be sleeved on sliding axially outside straight cylinder gear 171
Spline housing 172；Spline housing 172 is fixedly connected with the one end of drive shaft 40, thus with straight cylinder gear 171 and spline housing 172
During axially opposing movement, remains the engagement between the two and be driven rotary power.
During the work time: (1) straight-line displacement output device 42 drives drive shaft 40 axially towards preceding movement, so that originally
The attaching plate elements 7,8 being fastened in the second bayonet 602,612 is synchronously mobile to be detached from the engaging with bayonet forward, at this time position
As shown in fig. 7, the system of pushing is still in collapsed state, but unlocked；(2) rotation drive device 41 drives drive shaft 40 to rotate,
So that attaching plate elements 7,8 rotates 90 degree with drive shaft 40 outwardly, and 90 are rotated outwardly from the vertical position that can be caught in the first bayonet
Degree can extremely be caught in the lateral position of the first bayonet, and position is as shown in figure 5, propulsion system is in expansion but unlocked shape at this time
State；(3) straight-line displacement output device 42 drives drive shaft 40 axially towards rear movement, so that attaching plate elements 7,8 is synchronously backwards
Mobile and be caught in the second bayonet 602,612, position is as shown in fig. 6, the system of pushing is in the state of expansion and locking at this time, benefit
Not moving for axial displacement is kept with the lock state between the mover and stator of straight-line displacement output device 42, or is added
Locking mechanism is locked, such as the location hole perpendicular to its board direction is arranged in attaching plate elements, and in fixing sleeve cylinder base 6
Downside wall at the logical positioning through hole that is mated with is set, after driving positioning pin to pass through positioning through hole using electromagnet and deeply set
In the positioning hole in attaching plate elements, so that the relatively fixed receiver 6 of the attaching plate elements being fastened in the second bayonet is in the axial direction
Position fix；Propulsion system is switched to unfolded state from collapsed state, and it can be carried out propulsion work.
Along the direction operation of abovementioned steps (1) to step (3), and switches to propulsion system from unfolded state and pack up shape
State, and reduce the interference to cleaning and imaging.It, not only can benefit and in the locking to the attaching plate elements being caught in the first bayonet
It is locked with the locking between the mover of straight-line displacement output device and stator, can also add locking mechanism and be locked, example
Location hole perpendicular to its board direction is set such as in attaching plate elements, and is arranged therewith at the inner sidewall of fixing sleeve cylinder base 6
The logical positioning through hole of docking drives positioning pin after positioning through hole and is deeply set to the positioning in attaching plate elements using electromagnet
In hole, so that the relatively fixed position of receiver 6 in the axial direction of the attaching plate elements being fastened in the second bayonet is fixed.
Lifting pushes away mechanism and is fixed on the rack, and in particular at the axially inner side of magnet-wheel, including cushion block and is used for
It drives cushion block with respect to the straight-line displacement output device that magnet-wheel is gone up and down, during the work time, is driven using straight-line displacement output device
Cushion block is supported on steel structure surface, to apply rack 10 towards the thrust far from steel structure surface direction, to overcome magnet-wheel
Magnetic attraction between steel structure surface, and separate magnet-wheel mutually with steel structure surface；Specifically, in the present embodiment, do not have vehicle
It is mounted on a lifting at magnet-wheel axially inner side and pushes away mechanism.
Control system includes processor, memory and the control for receiving operator's sending waterborne in a wired or wireless fashion
The signal receiver of instruction and the liquid level sensor being located in rack 10；In the present embodiment, liquid level sensor is level transmitting
Device, for the hydraulic pressure of depth where measuring Work robot, to obtain current depth of water location information.Processor is according to command reception
The received control instruction execution of device institute is stored in corresponding computer program in memory, can be realized following steps:
Dive step, control bracket of taking down the exhibits are unfolded and are caught in attaching plate elements 7,8 in first bayonet 601,611, using pushing away
It is driven at cleaning robot dive to target job place into system.It in the process, is entire using four lifting propellers
Cleaning robot provides the lift for overcoming gravity, to control the diving speed of entire cleaning robot, and utilizes four transverse directions
The propulsive force size of inclined push type propeller and direction cooperation, and cleaning robot is driven to turn to, move forward or back, also it can use
Eight propellers promote the cooperation of revolving speed size and steering, and are adjusted to the pose of cleaning robot.
In the dive step, first control bracket of taking down the exhibits drives the expansion of eight propellers and promotes position shown in 7
Afterwards, it then controls lifting type support reflecting mirror 30 is driven to drop to its lower surface and be tightly attached in rack 10, then control eight propulsions
Device cooperating, and drive the marine growth cleaning robot dive of underwater steel construction surface to target location.Alternatively, in the dive
In step, first control bracket of taking down the exhibits drives the expansion of eight propellers behind the propulsion position shown in 7, then controls steering engine 3392
It drives reflecting mirror 30 to swing certain angle, and the spacing between reflecting mirror 30 and rack 10 is adjusted by lifting type support, to fill
When tail vane of this cleaning robot during dive, the stability of its dive movement is effectively improved, to improve dive speed
Degree and controllability.
Cleaning step adjusts the cleaning robot using propulsion system when locating for the cleaning robot dive to target field
Pose to magnet-wheel be magneted in the target location of steel structure surface, then control bracket of taking down the exhibits withdraw and make attaching plate elements 7,8 block
Enter in the second bayonet 602,612, and opens the cavitation jet cleaning module in operating system and carry out marine growth washing and cleaning operation, cleaning
In the process, the walking path of cleaning robot, imaging operation and cleaning way can refer to applicant and applied and disclosed disclosure
Number for CN108082415A patent document disclosed in technical solution.
In the cleaning step, control lifting type support drives reflecting mirror 30 to rise at imaging position, then controls and take down the exhibits
Bracket drives eight propellers to withdraw in evacuation position as shown in Figure 8, then controls the cavitation jet in operating system
Module 2 carries out washing and cleaning operation.
During washing and cleaning operation, if necessary to observation when reflecting mirror 30 is arranged along the horizontal, area of visual field can not
When the scene observed, control lifting type support adjusts the spacing between reflecting mirror 30 and rack 10, and control wobble drive dress
The pivot angle of adjustment reflecting mirror 30 is set, to change the area of visual field of image received by camera, specifically by control steering engine
3392 drive reflecting mirror 30 to swing predetermined angular, i.e. oscillatory gearing mechanism in steering engine 3392 and composition the present embodiment.
Specifically, during washing and cleaning operation, reflecting mirror 30 is driven to be in lateral position, with for operation process improve at
Picture, and when needing to observe the scene except current work region, then control the pivot angle of oscillatory gearing mechanism control reflecting mirror 30
Position.
Replace step, turn to or when the case where replacement operation place for according to the prior art, being not easy to robot,
It controls bracket of taking down the exhibits to be unfolded and be caught in attaching plate elements 7,8 in first bayonet 601,611, and starts propulsion system and suspended with exporting
Propulsive force, then control lifting and push away mechanism and magnet-wheel is pushed away into steel structure surface, to work as using propulsion system adjustment robot is opposite
The pose of preceding Work places, and it is displaced to target location.
As dive step, reflecting mirror 30 need to be dropped to its lower surface and be tightly attached on the upper surface of rack 10.Alternatively,
In the dive step, first control bracket of taking down the exhibits drives the expansion of eight propellers behind the propulsion position shown in 7, then controls
Steering engine 3392 drives reflecting mirror 30 to swing certain angle, and the spacing between lifting type support adjustment reflecting mirror 30 and rack 10,
To serve as guiding rudder of this cleaning robot during transposition, the stability of its transposition movement is effectively improved, to improve
The speed that replaces and controllability.
Floating step controls bracket of taking down the exhibits and is unfolded and is caught in attaching plate elements 7,8 in first bayonet 601,611, and starts
Propulsion system is to export suspension propulsive force, then controls lifting and push away mechanism and magnet-wheel is pushed away steel structure surface, with using promoting system
The pose of system adjustment underwater steel construction surface marine growth cleaning robot, and be increased at sea.
In the floating step, first controls bracket of taking down the exhibits and drive eight propellers expansion and be in propulsion as shown in FIG. 6
Behind position, then controls lifting type support reflecting mirror 30 is driven to drop to its lower surface and be tightly attached in rack 10, then control eight and push away
It cooperates into device and underwater steel construction surface marine growth cleaning robot is driven to float up at sea.Alternatively, in the floating step,
First control bracket of taking down the exhibits drives the expansion of eight propellers behind propulsions position as shown in FIG. 6, then controls steering engine 3392 and drives
Reflecting mirror 30 is set to swing certain angle, and the spacing between lifting type support adjustment reflecting mirror 30 and rack 10, it is clear to serve as this
Guiding rudder of the robot in floating-upward process is washed, the stability for the work that floats thereon is effectively improved, to improve the speed to float
And controllability.
To sum up, in above steps, lifting type support is used to drive eight propeller expansion in bracket of taking down the exhibits and be in
It behind propulsion position as shown in FIG. 6, drives reflecting mirror 30 to drop to its lower surface and is tightly attached in rack 10, and for opening up branch
Frame drives eight propellers to withdraw before evacuation position as shown in Figure 7, and reflecting mirror 30 is driven to rise at imaging position.
During the work time, magnet-wheel is first pushed away into steel structure surface to the lesser position of its magnetic attraction, to effectively avoid
The thrust of full utilization propulsion system magnet-wheel is pushed open the power output during steel structure surface it is too big and increase battery energy consumption and
Reduce play.
Embodiment 2
As the explanation to the embodiment of the present invention 2, only the difference with above-described embodiment 1 is illustrated below, it is main
It to be to be illustrated to the structure of reflecting mirror and its mounting bracket.
Referring to Figure 13 and Figure 14, reflecting mirror 30 includes the first son that planar panel structure can be pieced together at joint close plane 303
Reflecting mirror 301 and the second sub- reflecting mirror 302, in the present embodiment, the first sub- reflecting mirror 301 and the second sub- reflecting mirror 302 about
Joint close plane 303 is arranged symmetrically.Mounting bracket includes two adjustment brackets 33, and in two adjustment brackets 33, one can be independent
Ground is adjusted the pose of the first sub- reflecting mirror 301, another the pose to the first sub- reflecting mirror 302 can independently can be carried out
Adjustment, i.e., in the present embodiment, it is possible to be adjusted simultaneously to the pose of two sub- reflecting mirrors, including position and/or posture, when
So, if only needing to be adjusted one of them sub- reflecting mirror, only an adjustment bracket need to be set, another is arranged to fixed branch
Frame is remained unchanged using the position of the first sub- reflecting mirror 301, is kept into the operating area to Cleaning Technology Based On Cavitation Water Jet module 2
Picture, and be adjusted by the pose to the second sub- reflecting mirror 302, if do not observed originally with observing not mobile robot
The imaging of position.
In the present embodiment, adjustment bracket 33 is constructed using multi-spindle machining hand, specific ground structure, and adjustment bracket 33 wraps
The base support 331 being fixedly connected with rack 10 is included, the mounting bracket 332 being fixedly connected with sub- reflecting mirror is swung for passing through
The connecting bracket 335 that drive shaft 333,334 and base support 331 and mounting bracket 332 are rotatably connected, oscillatory gearing mechanism
336 and oscillatory gearing mechanism 337；Wherein, oscillatory gearing mechanism 336 is for driving wobble drive axis 333 to rotate, and the company of drive
Bracket 335 is connect to swing with respect to base support 331；Oscillatory gearing mechanism 337 drives for driving wobble drive axis 334 to rotate
Mounting bracket 332 is swung with respect to connecting bracket 335, in the present embodiment, the axis of wobble drive axis 333 and wobble drive axis 334
To parallel arrangement, so that can not only drive the change in location of sub- reflecting mirror can also adjust its attitudes vibration；Two wobble drives
Device is all made of steering engine and is constructed, can be detected using angular transducer thereon to posture position adjustment process.It is right
It four axis, five axis or six axis robot can be used is constructed in adjustment bracket 33, with can be in the more offices of same position observable
Portion's scene areas.
It is more advantageous to based on the building of both of the aforesaid piece reflecting mirror so as to construct more complicated tail vane combination
Keep stability of cleaning robot during fast moving.
In the present invention, " transverse direction " is configured as four gears of cleaning robot being placed in the level side made on horizontal plane
To, and " vertical " is configured as at this time vertical.
Claims (10)
1. a kind of underwater steel construction surface marine growth cleaning robot, including running gear and it is mounted in the machine of the running gear
Control system, reflective omnidirectional imaging system and operating system on frame；The reflective omnidirectional imaging system includes passing through peace
Dress bracket is supported on reflecting mirror of the rack on the side of the steel structure surface, and is water-tightly installed in the rack
Camera upper and for receiving the image that the reflecting mirror is reflected；It is characterized by:
The running gear includes propulsion system, and the propulsion system includes for driving underwater steel construction surface marine growth
Pose adjustment, lifting and the propeller retreated of cleaning robot；The mounting bracket by the control system controlled to institute
The pose for stating reflecting mirror is adjusted；
The control system includes processor and memory, and the memory is stored with computer program, the computer program
Be able to achieve dive step when being executed by the processor, the dive step be included in the control propeller drive it is described underwater
During steel structure surface marine growth cleaning robot dive, the posture that the mounting bracket adjusts the reflecting mirror is controlled,
So that the reflecting mirror constitutes the underwater steel construction surface marine growth cleaning robot in the tail vane of dive process.
2. underwater steel construction surface marine growth cleaning robot according to claim 1, it is characterised in that:
The mounting bracket includes supporting support, and the reflecting mirror is rockably mounted to the support by wobble drive axis
On bracket, oscillatory gearing mechanism is installed, the oscillatory gearing mechanism is for driving the reflecting mirror phase in the supporting support
To the supporting support, the central axis around the wobble drive axis is swung.
3. underwater steel construction surface marine growth cleaning robot according to claim 2, it is characterised in that:
The supporting support is lifting type support, for adjusting the spacing between the reflecting mirror and the rack.
4. underwater steel construction surface marine growth cleaning robot according to claim 3, it is characterised in that:
The lifting type support includes scissor type telescopic mechanism and the driving dress for driving the scissor type telescopic mechanism movement
It sets, two sets of scissor type telescopic mechanisms are symmetrically arranged at the two sides of the reflecting mirror.
5. underwater steel construction surface marine growth cleaning robot according to claim 1, it is characterised in that:
The reflecting mirror includes the first sub- reflecting mirror and the second sub- reflecting mirror that planar panel structure can be pieced together at joint close plane；
The mounting bracket includes the adjustment bracket for being independently adjustable single sub- reflecting mirror.
6. underwater steel construction surface marine growth cleaning robot according to claim 5, it is characterised in that:
The first sub- reflecting mirror is arranged symmetrically with the described second sub- reflecting mirror about the joint close plane；
The adjustment bracket is multi-spindle machining hand；The multi-spindle machining hand includes the base support being fixedly connected with the rack,
The mounting bracket being fixedly connected with sub- reflecting mirror, the connecting bracket for being rotatably connected by wobble drive axis and the two, and
For driving the oscillatory gearing mechanism of the wobble drive axis rotation.
7. special according to claim 1 to underwater steel construction surface marine growth cleaning robot described in any one of 6 claims
Sign is:
The propulsion system includes the propeller unit being symmetrically mounted on the both sides of the rack, the propeller unit
Bracket and the first lifting propeller taken down the exhibits on bracket, the second lifting propeller, first are mounted on laterally tiltedly including taking down the exhibits
Pushing-type propeller and the second lateral inclined push type propeller, the direction of propulsion of two lateral inclined push type propellers are folded into greater than zero degree
Angle；
The bracket of taking down the exhibits includes the fixing sleeve cylinder base being fixed in the rack, is sleeved on to clearance fit the fixes sleeve
Drive shaft in seat, rotation drive device and straight-line displacement output device；The first lifting propeller and described first is laterally
Inclined push type propeller is fixedly connected by attaching plate elements with the one end of the drive shaft, it is described second lifting propeller with it is described
Second lateral inclined push type propeller is fixedly connected by attaching plate elements with the other end of the drive shaft；The fixing sleeve cylinder base
It is equipped with the barrel notch for exposing the attaching plate elements, the barrel notch is equipped with and is arranged side by side and along the drive shaft
The first bayonet axially arranged and the second bayonet；The straight-line displacement output device drives the connection by the drive shaft
Plate is caught in bayonet and is limited the rotation of the drive shaft, or exits bayonet and can be rotated the drive shaft；The rotation
Rotary driving device is for driving the attaching plate elements to be rotated by 90 ° upward from the lateral position that can be caught in first bayonet to can
It is caught in the vertical position of second bayonet.
8. underwater steel construction surface marine growth cleaning robot according to claim 7, it is characterised in that:
The running gear includes magnet-wheel system, and the magnet-wheel system includes the magnet-wheel that can be magneted on steel structure surface；It is described
Lifting is installed in rack and pushes away mechanism, it includes the cushion block being used to support on the steel structure surface that the lifting, which pushes away mechanism,
And the straight-line displacement output device of the relatively described magnet-wheel lifting of the cushion block is driven, the straight-line displacement output device is for driving magnetic
Wheel is detached to the steel structure surface.
9. a kind of dive control method of underwater steel construction surface marine growth cleaning robot, the underwater steel construction surface Hai Sheng
Object cleaning robot includes rack and the reflective omnidirectional imaging system that is mounted in the rack, the reflective panoramic imagery
System includes the reflecting mirror being supported in the rack by mounting bracket, which is characterized in that the running gear includes being used for
The propeller for driving the pose of the underwater steel construction surface marine growth cleaning robot to adjust, go up and down and retreat, the dive
Control method includes:
It controls during the propeller drives the underwater steel construction surface marine growth cleaning robot dive, described in control
Mounting bracket adjusts the posture of the reflecting mirror, so that the reflecting mirror constitutes the underwater steel construction surface marine growth cleaning machine
Tail vane of the device people in dive process.
10. dive control method according to claim 9, which is characterized in that the dive control method includes:
It controls the mounting bracket and adjusts vertical spacing between the reflecting mirror and the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910555678.9A CN110341912B (en) | 2019-06-25 | 2019-06-25 | Underwater steel structure surface marine organism cleaning robot and submergence control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910555678.9A CN110341912B (en) | 2019-06-25 | 2019-06-25 | Underwater steel structure surface marine organism cleaning robot and submergence control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110341912A true CN110341912A (en) | 2019-10-18 |
| CN110341912B CN110341912B (en) | 2021-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| EP2497708A1 (en) * | 2005-07-22 | 2012-09-12 | The University Of Newcastle Upon Tyne | Apparatus for determining the position of a moveable apparatus on a surface |
| CN108082415A (en) * | 2017-11-21 | 2018-05-29 | 浙江大学 | A kind of underwater steel construction robot operated on surface |
| CN108423141A (en) * | 2018-02-05 | 2018-08-21 | 浙江大学 | A kind of underwater operation robot and its control method |
| CN109229310A (en) * | 2018-10-18 | 2019-01-18 | 上海海洋大学 | A kind of underwater outer round tube cleaning and detect robot |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2497708A1 (en) * | 2005-07-22 | 2012-09-12 | The University Of Newcastle Upon Tyne | Apparatus for determining the position of a moveable apparatus on a surface |
| CN101038163A (en) * | 2007-02-07 | 2007-09-19 | 北京航空航天大学 | Single-vision measuring method of space three-dimensional attitude of variable-focus video camera |
| CN201712538U (en) * | 2010-04-27 | 2011-01-19 | 李玉柱 | Novel mirror surface body of automobile rearview mirror |
| CN108082415A (en) * | 2017-11-21 | 2018-05-29 | 浙江大学 | A kind of underwater steel construction robot operated on surface |
| CN108423141A (en) * | 2018-02-05 | 2018-08-21 | 浙江大学 | A kind of underwater operation robot and its control method |
| CN109229310A (en) * | 2018-10-18 | 2019-01-18 | 上海海洋大学 | A kind of underwater outer round tube cleaning and detect robot |
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| Publication number | Publication date |
|---|---|
| CN110341912B (en) | 2021-01-12 |
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