CN110697009A - Underwater robot orthotic devices that turns on one's side - Google Patents
Underwater robot orthotic devices that turns on one's side Download PDFInfo
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- CN110697009A CN110697009A CN201911015662.5A CN201911015662A CN110697009A CN 110697009 A CN110697009 A CN 110697009A CN 201911015662 A CN201911015662 A CN 201911015662A CN 110697009 A CN110697009 A CN 110697009A
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- robot
- robot body
- sliding block
- rod
- motor
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- 238000004140 cleaning Methods 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims 1
- 230000009471 action Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a rollover correction device for an underwater robot, and relates to the technical field of robot devices. The robot comprises a robot body and a wireless control terminal, wherein an annular guide rail is fixed on the robot body through a plurality of connecting blocks, and an electric sliding block is arranged on the annular guide rail in a matching way; one side of the electric sliding block, which is close to the robot body, is provided with a pointer, one side of the electric sliding block, which is far away from the robot body, is provided with a supporting rod, a motor is fixed on the supporting rod, and the output end of the motor is connected with a cleaning device; the top of the robot body is provided with an electric telescopic rod, and the electric telescopic rod is provided with a camera device; the top of the robot body is also provided with an angle scale and a moving direction recognition device. According to the invention, the electric slide block is controlled to enable the cleaning device to be positioned in the advancing direction of the robot body, and the cleaning device is used for cleaning the obstacle in the advancing direction of the robot body, so that the robot is prevented from colliding with the obstacle when working underwater.
Description
Technical Field
The invention belongs to the technical field of robot devices, and particularly relates to a rollover correction device of an underwater robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. In the prior art, when a robot collides with an obstacle in the walking process, the robot is easy to jam and turn on one side.
Chinese grant publication No. CN1202404C discloses an apparatus and method for identifying a position and a direction of a mobile robot, which includes obtaining absolute coordinates at a current position of the mobile robot and a relative coordinate for a movement displacement of the mobile robot. Thus, the position and direction of the mobile robot can be recognized by reflecting the relative coordinates onto the absolute coordinates.
Therefore, the problem to be solved by the invention is how to avoid the collision of the robot with the obstacle or the rollover of the robot after the collision with the obstacle when the robot works underwater.
Disclosure of Invention
The invention aims to provide a side-turning correction device of an underwater robot, which is characterized in that a cleaning device is positioned in the advancing direction of a robot body by controlling an electric slide block, so that the robot is prevented from colliding with an obstacle when working underwater.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a rollover correction device of an underwater robot, which comprises a robot body and a wireless control terminal, wherein an annular guide rail is fixed on the robot body through a plurality of connecting blocks, and an electric sliding block is arranged on the annular guide rail in a matching way; one side of the electric sliding block, which is close to the robot body, is provided with a pointer, one side of the electric sliding block, which is far away from the robot body, is provided with a supporting rod, a motor is fixed on the supporting rod, and the output end of the motor is connected with a cleaning device;
the top of the robot body is provided with an electric telescopic rod, and the electric telescopic rod is provided with a camera device; the top of the robot body is also provided with an angle scale arranged in a ring shape and a moving direction identification device for identifying the moving direction of the robot;
the bottom of the connecting block is provided with a triangular roller through an L-shaped connecting rod;
the robot is characterized in that a control box is installed on the robot body, a controller, a wireless transmitting device and a wireless receiving device are installed inside the control box, the controller adopts an ARM single chip microcomputer, and the controller is connected with a motor, a moving direction recognition device, an electric telescopic rod and an electric sliding block respectively.
Furthermore, the bottom edge of robot body encircles and is provided with a plurality of universal wheels.
Further, the cleaning device comprises a chassis assembled on the output shaft of the motor and cleaning bristles arranged on the bottom side surface of the chassis.
Furthermore, the L-shaped connecting rod comprises a cross rod, and one end of the cross rod is provided with a threaded connecting rod for connecting the cross rod and the connecting block; one end of the threaded connecting rod is welded on the cross rod, and the other end of the threaded connecting rod is in threaded connection with a threaded hole formed in the connecting block.
Furthermore, the triangular idler wheel comprises a triangular support, 3 anti-collision guide wheels are arranged on the triangular support, each anti-collision guide wheel is a plastic guide wheel, and an elastic buffer layer is arranged on the periphery side of each plastic guide wheel.
Further, the camera device is an underwater camera.
Further, the moving direction recognition device includes an absolute coordinate detection unit, a relative coordinate detection unit, a control unit, a sensor wound in a ring shape, and a storage unit;
the system comprises an absolute coordinate detection unit, a detection unit and a control unit, wherein the absolute coordinate detection unit is used for obtaining absolute coordinates of the current position of the mobile robot, the absolute coordinate detection unit is an RFID (radio frequency identification), and the detection unit is used for obtaining a unique number from at least one RFID card placed in a working area of the mobile robot;
wherein the RFID card includes an inductor wound in a ring shape to transmit/receive a radio frequency signal; and a storage unit for storing a unique number representing a location of the RFID card;
the relative coordinate detection unit is used for obtaining the relative coordinate of a movement displacement of the mobile robot and comprises a speed sensor for detecting the movement speed of the mobile robot; and a direction sensor for detecting a forward direction of the mobile robot;
wherein the control unit is used for identifying the position and the direction of the mobile robot by reflecting the relative coordinates onto the absolute coordinates.
The invention has the following beneficial effects:
according to the invention, the electric slide block is controlled to enable the cleaning device to be positioned in the advancing direction of the robot body, and the cleaning device is used for cleaning the obstacle in the advancing direction of the robot body, so that the robot is prevented from colliding with the obstacle when working underwater; meanwhile, the camera device and the moving direction recognition device are used for conveniently knowing the advancing direction of the robot in time and controlling the cleaning device to be positioned in the advancing direction of the robot body; meanwhile, the collision avoidance mechanism consisting of the triangular idler wheels and the L-shaped connecting rods avoids damage to the annular guide rail caused by collision between the robot body and a wall obstacle in the moving process.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a robot rollover correction device according to the present invention;
fig. 2 is a schematic structural diagram of the anti-collision mechanism of the invention.
Detailed Description
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. 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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", and the like, indicate an orientation or positional relationship, merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be taken as limiting the present invention.
Referring to fig. 1-2, the invention relates to a rollover correction device for an underwater robot, which comprises a robot body 1 and a wireless control terminal, wherein a circular guide rail 3 is fixed on the robot body 1 through six connecting blocks 2, and an electric slider 4 is arranged on the circular guide rail 3 in a matching manner; one side of the electric sliding block 4 close to the robot body 1 is provided with a pointer 41, one side of the electric sliding block 4 far away from the robot body 1 is provided with a supporting rod 42, a motor 43 is fixed on the supporting rod 42, and the output end of the motor 43 is connected with a cleaning device 44;
the top of the robot body 1 is provided with an electric telescopic rod 12, and the electric telescopic rod 12 is provided with a camera device 13; the top of the robot body 1 is also provided with an angle scale 14 arranged in a circular shape and a moving direction identification device 15 for identifying the moving direction of the robot;
the bottom of the connecting block 2 is provided with a triangular roller 6 through an L-shaped connecting rod;
the robot comprises a robot body 1, and is characterized in that a control box is installed on the robot body 1, a controller, a wireless transmitting device and a wireless receiving device are installed inside the control box, the controller adopts an ARM single chip microcomputer, and the controller is respectively connected with a motor 43, a moving direction recognition device 15, an electric telescopic rod 12 and an electric sliding block 4.
The bottom edge of the robot body 1 is provided with a plurality of universal wheels 11 in a surrounding manner.
The camera device 13 is an underwater camera.
The cleaning device 44 includes a chassis fitted on the output shaft of the motor 43, and cleaning bristles provided on the bottom side of the chassis.
The L-shaped connecting rod comprises a cross rod 5, and one end of the cross rod 5 is provided with a threaded connecting rod 51 for connecting the cross rod 5 and the connecting block 2; one end of the threaded connecting rod 51 is welded on the cross rod 5, and the other end of the threaded connecting rod 51 is in threaded connection with a threaded hole formed in the connecting block 2.
The triangular roller 6 comprises a triangular support, 3 anti-collision guide wheels 61 are arranged on the triangular support, and the anti-collision guide wheels 61 are plastic guide wheels and elastic buffer layers are arranged on the periphery sides of the plastic guide wheels.
The moving direction recognition device 15 includes an absolute coordinate detection unit, a relative coordinate detection unit, a control unit, a sensor wound in a ring shape, and a storage unit;
an absolute coordinate detecting unit for obtaining absolute coordinates of a current position of the mobile robot, the absolute coordinate detecting unit being an RFID, i.e., a radio frequency identification, the detecting unit being for obtaining a unique number from at least one RFID card placed in a working area of the mobile robot;
the RFID card includes an inductor wound in a ring shape to transmit/receive a radio frequency signal; and a storage unit for storing a unique number representing a location of the RFID card;
a relative coordinate detecting unit for obtaining a relative coordinate of a movement displacement of the mobile robot, the relative coordinate detecting unit including a speed sensor for detecting a moving speed of the mobile robot; and a direction sensor for detecting a forward direction of the mobile robot;
and a control unit for recognizing the position and direction of the mobile robot by reflecting the relative coordinates onto the absolute coordinates.
In this embodiment, the moving direction recognition device 15 detects the moving direction of the robot body and transmits the moving direction to the wireless control terminal through the wireless transmission device, and the camera device 13 takes a picture to obtain the pointing condition of the pointer 41 on the angle scale 14 and transmits the pointing condition to the wireless control terminal through the wireless transmission device; the wireless control terminal then transmits the adjusting signal to the controller 15 through the wireless receiving device, and then the controller 15 drives the electric slider 4 along the circular guide rail 3, and when the pointer 41 points to the desired position on the angle scale 14, the electric slider 4 is controlled to stop moving through the wireless control terminal.
Meanwhile, the action of the motor 43 and the action of the electric telescopic rod 12 can be controlled through the wireless control terminal in the implementation.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. The utility model provides an underwater robot orthotic devices that turns on one's side, includes robot body (1) and a wireless control terminal, its characterized in that: an annular guide rail (3) is fixed on the robot body (1) through a plurality of connecting blocks (2), and an electric sliding block (4) is arranged on the annular guide rail (3) in a matching manner; one side, close to the robot body (1), of the electric sliding block (4) is provided with a pointer (41), one side, far away from the robot body (1), of the electric sliding block (4) is provided with a supporting rod (42), a motor (43) is fixed on the supporting rod (42), and the output end of the motor (43) is connected with a cleaning device (44);
the top of the robot body (1) is provided with an electric telescopic rod (12), and the electric telescopic rod (12) is provided with a camera device (13); the top of the robot body (1) is also provided with an angle scale (14) arranged in a circular shape and a moving direction identification device (15) for identifying the moving direction of the robot;
the bottom of the connecting block (2) is provided with a triangular roller (6) through an L-shaped connecting rod;
the robot is characterized in that a control box is installed on the robot body (1), a controller, a wireless transmitting device and a wireless receiving device are installed inside the control box, the controller is an ARM single chip microcomputer, and the controller is connected with a motor (43), a moving direction recognition device (15), an electric telescopic rod (12) and an electric sliding block (4) respectively.
2. The underwater robot rollover correction device according to claim 1, wherein a plurality of universal wheels (11) are arranged around the bottom edge of the robot body (1).
3. The underwater robot rollover correction device according to claim 1, wherein the cleaning device (44) comprises a chassis fitted to an output shaft of the motor (43), and cleaning bristles disposed on a bottom side of the chassis.
4. The underwater robot rollover correction device according to claim 1, wherein the L-shaped link comprises a cross bar (5), one end of the cross bar (5) is provided with a threaded connecting rod (51) for connecting the cross bar (5) and the connecting block (2); one end of the threaded connecting rod (51) is welded on the cross rod (5), and the other end of the threaded connecting rod (51) is in threaded connection with a threaded hole formed in the connecting block (2).
5. The underwater robot rollover correction device as defined in claim 1, wherein the triangular roller (6) comprises a triangular bracket, the triangular bracket is provided with 3 anti-collision guide wheels (61), the anti-collision guide wheel (61) is a plastic guide wheel, and an elastic buffer layer is arranged on the outer peripheral side of the plastic guide wheel.
6. The underwater robot rollover correction device according to claim 1, wherein the movement direction recognition means (15) includes an absolute coordinate detection unit, a relative coordinate detection unit, a control unit, a sensor wound in a ring shape, and a storage unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911015662.5A CN110697009B (en) | 2019-10-24 | 2019-10-24 | Underwater robot orthotic devices that turns on one's side |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911015662.5A CN110697009B (en) | 2019-10-24 | 2019-10-24 | Underwater robot orthotic devices that turns on one's side |
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| Publication Number | Publication Date |
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| CN110697009A true CN110697009A (en) | 2020-01-17 |
| CN110697009B CN110697009B (en) | 2020-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911015662.5A Active CN110697009B (en) | 2019-10-24 | 2019-10-24 | Underwater robot orthotic devices that turns on one's side |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1467480A (en) * | 2002-06-12 | 2004-01-14 | ���ǵ�����ʽ���� | Apparatus and method of recognizing position and direction of mobile robot |
| KR20140107760A (en) * | 2013-02-28 | 2014-09-05 | 삼성중공업 주식회사 | Underwater robot guide device |
| CN204276405U (en) * | 2014-11-28 | 2015-04-22 | 国家电网公司 | A kind of insulator cleaning robot cleaning mechanism |
| CN207755218U (en) * | 2017-06-08 | 2018-08-24 | 郑志超 | A kind of automatic mopping device of remote control |
| CN108716204A (en) * | 2018-05-25 | 2018-10-30 | 安徽风向标清洁设备有限公司 | Cleaning disc mechanism for sweeper |
| CN109108941A (en) * | 2018-09-07 | 2019-01-01 | 华南理工大学 | A kind of robot chassis |
| CN109365365A (en) * | 2018-11-20 | 2019-02-22 | 宁波恒晨电力建设有限公司 | A kind of integrated clearing apparatus for substation's support insulator |
| CN208837823U (en) * | 2018-05-16 | 2019-05-10 | 缙云县国品韩智能科技有限公司 | A kind of smart home cleaning device |
-
2019
- 2019-10-24 CN CN201911015662.5A patent/CN110697009B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1467480A (en) * | 2002-06-12 | 2004-01-14 | ���ǵ�����ʽ���� | Apparatus and method of recognizing position and direction of mobile robot |
| KR20140107760A (en) * | 2013-02-28 | 2014-09-05 | 삼성중공업 주식회사 | Underwater robot guide device |
| CN204276405U (en) * | 2014-11-28 | 2015-04-22 | 国家电网公司 | A kind of insulator cleaning robot cleaning mechanism |
| CN207755218U (en) * | 2017-06-08 | 2018-08-24 | 郑志超 | A kind of automatic mopping device of remote control |
| CN208837823U (en) * | 2018-05-16 | 2019-05-10 | 缙云县国品韩智能科技有限公司 | A kind of smart home cleaning device |
| CN108716204A (en) * | 2018-05-25 | 2018-10-30 | 安徽风向标清洁设备有限公司 | Cleaning disc mechanism for sweeper |
| CN109108941A (en) * | 2018-09-07 | 2019-01-01 | 华南理工大学 | A kind of robot chassis |
| CN109365365A (en) * | 2018-11-20 | 2019-02-22 | 宁波恒晨电力建设有限公司 | A kind of integrated clearing apparatus for substation's support insulator |
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| CN110697009B (en) | 2020-09-18 |
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Inventor after: Liu Yujing Inventor after: Chen Xiaobo Inventor after: Shen Yang Inventor before: Shen Yang |
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Effective date of registration: 20200820 Address after: Room 1164, 1 / F, building 5, No. 11, Yingbin South Road, Huairou District, Beijing Applicant after: Peimabin (Beijing) Intelligent Technology Co.,Ltd. Address before: 310000 No.2, Lane 6, zone 2, group 4, Hangmin village, Guali Town, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant before: Shen Yang |
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Effective date of registration: 20211201 Address after: No.63 Suzhou Road, Jiangshan Town, Laixi City, Qingdao City, Shandong Province 266000 Patentee after: Feimabin (Qingdao) Intelligent Technology Co.,Ltd. Address before: 101400 room 1164, 1f, building 5, No. 11, Yingbin South Road, Huairou District, Beijing Patentee before: Peimabin (Beijing) Intelligent Technology Co.,Ltd. |