CN111252216A - Anti-winding acquisition method of underwater acquisition robot - Google Patents
Anti-winding acquisition method of underwater acquisition robot Download PDFInfo
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- CN111252216A CN111252216A CN202010176110.9A CN202010176110A CN111252216A CN 111252216 A CN111252216 A CN 111252216A CN 202010176110 A CN202010176110 A CN 202010176110A CN 111252216 A CN111252216 A CN 111252216A
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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
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
Abstract
The invention discloses an anti-winding acquisition method of an underwater acquisition robot, which is characterized by comprising five parts, namely a basic assembly, a driving assembly, a grabbing assembly and a remote measurement assembly. Wherein, the basic component comprises a shell, a receiving basket, a sealing cover and an undercarriage; the driving assembly comprises six hidden propeller blades arranged at preset positions on the shell and two water storage chambers which are arranged in the shell and are positioned at the head end and the tail end of the shell; the grabbing component comprises a mechanical arm which is telescopically connected to one side of the undercarriage, and a mechanical claw which is telescopically connected to one end of the mechanical arm; the telemetering assembly comprises an image acquisition unit fixed on one side of the shell, a control circuit installed inside the shell, and a user terminal in wireless connection with the image acquisition unit. The invention has abundant power, can not be wound by submarine plants such as aquatic weeds and the like, and has reliable operation.
Description
This patent is the divisional application, and the information of former application is as follows, the name: an anti-winding acquisition method of an underwater acquisition robot, which has the following application number: 201910252759, filing date: 2019-03-29.
Technical Field
The invention relates to an underwater detector, in particular to an anti-winding acquisition method of an underwater acquisition robot.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The submersible usually depends on the water storage tank to discharge and store water to change the self weight, thereby finishing the floating and sinking actions, and when the submersible needs to advance, the submersible provides driving force by the cooperation of a plurality of propellers.
Due to the complex seabed environment, various plants such as aquatic weeds and the like often grow, the plants are usually in a belt shape, and the submersible is easily wound by the plants such as the aquatic weeds and the like after entering the area, so that the output power of the blades is insufficient, and the blades are stopped when the power is serious.
Disclosure of Invention
The purpose of the invention is as follows: the anti-winding acquisition method of the underwater acquisition robot is provided, and the problems in the prior art are solved.
The technical scheme is as follows: an underwater acquisition robot comprises five parts, namely a base assembly, a driving assembly, a grabbing assembly and a remote measuring assembly.
The base assembly comprises a shell, a receiving basket fixed on the shell, a sealing cover rotationally connected to the receiving basket, and an undercarriage fixed at the lower end of the shell;
the driving assembly comprises six hidden propeller blades arranged at preset positions on the shell and two water storage cabins arranged in the shell and positioned at the head end and the tail end of the shell, and the water storage cabins are communicated with the outside of the shell;
the grabbing assembly comprises a mechanical arm and a mechanical claw, wherein the mechanical arm is connected to one side of the undercarriage in a telescopic mode, and the mechanical claw is connected to one end of the mechanical arm in a telescopic mode;
the telemetering assembly comprises an image acquisition unit fixed on one side of the shell, a control circuit installed inside the shell, and a user terminal in wireless connection with the image acquisition unit.
In a further embodiment, the hidden propellers at the four corners of the shell are arranged perpendicular to the horizontal plane, the hidden propellers at the two sides of one end of the shell are arranged in an angle-adjustable manner, the angle of adjustment is controlled by a stepping motor, and the adjustment range is plus or minus 45 degrees by taking a horizontal line as a datum line; the four hidden propellers arranged perpendicular to the horizontal plane are used for rapidly propelling the underwater robot, and the two hidden propellers arranged in an angle-adjustable mode realize the actions of advancing, retreating, turning and the like of the underwater robot by adjusting the angle.
In a further embodiment, the paddle containment propulsor includes a power generator and a wind channel former welded to the power generator; the power generator is communicated with the shell and comprises a barrel, a driving motor fixed in the barrel and a paddle connected with an output shaft of the driving motor, and the bottom of the barrel is hollow; the air duct former comprises a first air duct part and a second air duct part which are connected with each other in a staggered manner and welded on the cylinder, a preset gap is reserved between the first air duct part and the second air duct part, and the sections of the first air duct part and the second air duct part are U-shaped, namely one end of the first air duct part is closed and the other end of the first air duct part is open; after the air is formed in the power generator, the air passes through the air channel former, the air flow is finally ejected out of the preset gap, and the air carries with the surrounding air to form negative pressure forwards, and finally thrust capable of pushing the underwater robot to move forwards is formed.
In a further embodiment, the mechanical arm comprises a first electric push rod fixed on the undercarriage, a connecting seat fixed at one end of the first electric push rod, a first joint rotationally connected with the connecting seat, a second joint rotationally connected with the first joint, and a second electric push rod rotationally connected with the second joint; the mechanical arm is provided with three movable joints and is matched with an electric push rod, so that peripheral substances can be collected.
In a further embodiment, the connecting seat is linked with the first joint and the first joint is linked with the second joint through a harmonic speed reducer, and the second joint and the second electric push rod output power through a servo motor; the harmonic drive reducer is a gear drive which is assembled by a wave generator and provided with a flexible bearing to enable a flexible gear to generate controllable elastic deformation and is meshed with a rigid gear to transfer motion and power; the harmonic speed reducer has high speed reduction ratio, large torque and low noise.
In a further embodiment, the harmonic reducer comprises a rigid gear with an inner gear ring, a flexible gear which is embedded in the rigid gear and provided with an outer gear ring, and a wave generator which is tightly pressed and attached to the inner wall of the flexible gear; the wave generator comprises a rod-shaped component, and rolling bearings are respectively arranged at two ends of the rod-shaped component; the flexible gear can generate elastic deformation within a preset range.
In a further embodiment, the image acquisition unit comprises a pair of cameras, a pair of illuminating lamps and a pair of distance sensors, the cameras are arranged according to the position relation of human eyes, the illuminating lamps are arranged on two sides of the cameras, and the distance sensors are arranged above the cameras at a preset distance; the camera is used for gathering peripheral image data, and the light is used for the deep sea illumination, and distance sensor is used for responding to the distance of the place ahead barrier and makes initiative dodge.
In a further embodiment, the user terminal comprises a portable mobile device pre-installed with a predetermined operating system, including but not limited to a tablet computer, a mobile phone, a smart watch; the portable mobile equipment receives data and sends instructions through radio with the image acquisition unit; the operator can establish radio communication with the underwater robot by using the portable mobile equipment provided with the preset application program without specific monitoring equipment, can read pictures in real time and can remotely control the underwater robot to make corresponding actions.
An anti-winding acquisition method of an underwater acquisition robot is characterized by comprising the following steps:
step one, opening a water storage tank, injecting water into the water storage tank, and enabling the collecting robot to sink as gravity continuously increases;
secondly, when the acquisition robot sinks to the seabed, the grabbing component starts to work;
thirdly, the first electric push rod controls the mechanical arm to integrally extend and retract, a plurality of joints on the mechanical arm are matched with the second electric push rod, the mechanical claw is controlled to reach a required position, and a seabed sample is collected;
fourthly, the collected sample is placed into a containing basket through the cooperative work of the mechanical arm and the mechanical claw and is tightly covered through a sealing cover;
fifthly, the water storage tank utilizes pressure to drain water outwards, and at the moment, the weight of the collecting robot is reduced and the collecting robot starts to float upwards;
sixthly, the paddle hidden propellers work and are matched with the air duct former through a power generator, wherein four paddle hidden propellers which are arranged perpendicular to the horizontal plane are used for controlling the floating speed of the acquisition robot, and two paddle hidden propellers which are arranged in an angle-adjustable mode are used for controlling the forward movement and the steering of the acquisition robot;
seventhly, the image acquisition unit collects image data in real time and transmits signals to the user terminal through radio;
and eighthly, the user terminal sends a control instruction and transmits the control instruction to the control circuit through radio, and the control circuit drives the acquisition robot to act.
Has the advantages that: the invention relates to an underwater acquisition robot, which is flexible to operate by combining a water storage cabin and a paddle hidden propeller; especially, the paddle hidden propeller is hidden in the power generator, and through air duct design and aeromechanics design, experimental data prove that the power formed by the paddle can be amplified by 15 times, the underwater acquisition robot has abundant power and cannot be wound by submarine plants such as aquatic weeds and the like, and the operation is reliable; in addition, by designing the telemetering assembly, the underwater robot can transmit underwater data in real time and can be controlled by a user terminal; in a further embodiment, the telemetry assembly further comprises a pair of distance sensors that are capable of automatically actively avoiding an obstacle in front.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a sectional view of the blade-concealed propeller according to the present invention.
Fig. 3 is a schematic structural view of the robot arm of the present invention.
Fig. 4 is a disassembled schematic view of the harmonic reducer of the present invention.
Fig. 5 is a diagram illustrating the operation of the harmonic reducer according to the present invention.
FIG. 6 is a schematic block diagram of an image capture unit of the present invention.
The figures are numbered: the retractable basket comprises a storage basket 1, a hidden propeller 2 for blades, a cylinder 201, blades 202, a driving motor 203, a first air duct portion 204, a second air duct portion 205, a gap 206, an undercarriage 3, a first electric push rod 4, a mechanical arm 5, a connecting seat 501, a first joint 502, a second joint 503, a harmonic speed reducer 504, a wave generator 504a, a flexible gear 504b, a rigid gear 504c, a rolling bearing 504d, a thin-wall gear 504e, a second electric push rod 6, a mechanical claw 7, a sealing cover 8, a distance sensor 9, an illuminating lamp 10 and a camera 11.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 6, the present invention relates to an anti-wind collecting method of an underwater collecting robot. The following describes an underwater collection robot and an anti-winding collection method of the underwater collection robot in detail. An underwater acquisition robot comprises five parts, namely a base assembly, a driving assembly, a grabbing assembly and a remote measuring assembly. Specifically, the device comprises a shell, a storage basket 1, a sealing cover 8, an undercarriage 3, a propeller 2 with a hidden blade 202, a water storage tank, a mechanical arm 5, a mechanical claw 7, an image acquisition unit, a control circuit and a user terminal. The receiving basket 1 is fixed on the shell, the sealing cover 8 is rotatably connected to the receiving basket 1, and the undercarriage 3 is fixed at the lower end of the shell; hidden propeller 2 of paddle 202 is six, installs predetermined position department on the casing, the retaining cabin is installed inside the casing and be located its first both ends, the outer intercommunication of retaining cabin and casing, 5 telescopic connection of arm are in undercarriage 3 one side, 7 telescopic connection of gripper are in the one end of arm 5, the image acquisition unit is fixed one side of casing, control circuit installs inside the casing, user terminal with through radio connection between the image acquisition unit.
As a preferable scheme, the hidden propellers 2 of the blades 202 positioned at the four corners of the shell are arranged vertical to the horizontal plane, the hidden propellers 2 of the blades 202 positioned at the two sides of one end of the shell are arranged in an angle adjustable mode, the adjusting angle is controlled by a stepping motor, and the adjusting range is 45 degrees plus or minus with the horizontal line as a datum line; the four hidden propellers 2 with blades 202 installed perpendicular to the horizontal plane are used for rapidly propelling the underwater robot, and the two hidden propellers 2 with blades 202 installed in an angle-adjustable mode realize the actions of advancing, retreating, turning and the like of the underwater robot by adjusting the angle. The paddle 202 hidden propeller 2 comprises a power generator and an air duct former welded on the power generator; the power generator is connected with the shell in a penetrating way, the power generator comprises a cylinder body 201, a driving motor 203 fixed in the cylinder body 201, and a paddle 202 connected with an output shaft of the driving motor 203, and the bottom of the cylinder body 201 is hollow; the air duct former comprises a first air duct portion 204 and a second air duct portion 205 which are connected with each other in a staggered manner and welded on the cylinder 201, a preset gap 206 is reserved between the first air duct portion 204 and the second air duct portion 205, and the sections of the first air duct portion 204 and the second air duct portion 205 are U-shaped, namely one end is closed and the other end is open; after the air is formed in the power generator and passes through the air channel former, the air flow is finally ejected from the preset gap 206 and carries with the surrounding air to form negative pressure forwards, and finally thrust capable of pushing the underwater robot to move forwards is formed. The mechanical arm 5 comprises a first electric push rod 4 fixed on the undercarriage 3, a connecting seat 501 fixed at one end of the first electric push rod 4, a first joint 502 rotationally connected with the connecting seat 501, a second joint 503 rotationally connected with the first joint 502, and a second electric push rod 6 rotationally connected with the second joint 503; the mechanical arm 5 is provided with three movable joints and is matched with an electric push rod, so that peripheral substances can be collected. The connecting seat 501 is linked with the first joint 502 and the first joint 502 is linked with the second joint 503 through a harmonic speed reducer 504, and the second joint 503 and the second electric push rod 6 output power through a servo motor; the harmonic drive reducer is a gear drive which is assembled by a flexible bearing on a wave generator 504a to enable a flexible gear to generate controllable elastic deformation and is meshed with a rigid gear to transfer motion and power; the harmonic reducer 504 has a high reduction ratio, a large torque, and a low noise. The harmonic speed reducer 504 comprises a rigid gear 504c with an inner gear ring, a flexible gear 504b which is embedded in the rigid gear 504c and is provided with an outer gear ring, and a wave generator 504a which is tightly pressed and attached to the inner wall of the flexible gear 504 b; the wave generator 504a comprises a rod-shaped component, and two ends of the rod-shaped component are respectively provided with a rolling bearing 504 d; the flexible spline 504b can be elastically deformed within a predetermined range. The image acquisition unit comprises a pair of cameras 11, a pair of illuminating lamps 10 and a pair of distance sensors 9, the cameras 11 are arranged according to the position relation of human eyes, the illuminating lamps 10 are arranged on two sides of the cameras 11, and the distance sensors 9 are arranged above the cameras 11 at preset distances; the camera 11 is used for collecting peripheral image data, the illuminating lamp 10 is used for deep sea illumination, and the distance sensor 9 is used for sensing the distance of a front obstacle and making active avoidance. The user terminal comprises a portable mobile device preinstalled with a preset operating system, including but not limited to a tablet computer, a mobile phone and a smart watch; the portable mobile equipment receives data and sends instructions through radio with the image acquisition unit; the operator can establish radio communication with the underwater robot by using the portable mobile equipment provided with the preset application program without specific monitoring equipment, can read pictures in real time and can remotely control the underwater robot to make corresponding actions.
An anti-winding acquisition method of an underwater acquisition robot and a specific process are as follows:
an operator remotely controls and monitors the underwater robot through a portable mobile device preinstalled with a preset operating system, wherein the portable mobile device comprises but is not limited to a tablet personal computer, a mobile phone and a smart watch; the portable mobile equipment receives data and sends instructions with the image acquisition unit through radio.
Firstly, an operator remotely opens a water storage tank and injects water into the water storage tank, at the moment, the weight of the underwater robot is continuously increased until the weight is larger than the preset water discharge amount, and the collection robot begins to sink; when the acquisition robot sinks to the seabed, the grabbing component starts to work: the first electric push rod 4 controls the mechanical arm 5 to integrally extend and retract, the first joint 502 is movably connected with the connecting seat 501, the second joint 503 is movably connected with the first joint 502, and the second joint 503 is rotatably connected with the second electric push rod 6; the first joint 502 is linked with the connecting seat 501, the first joint 502 is linked with the second joint 503 through a harmonic speed reducer 504, and the second joint 503 is linked with the second electric push rod 6 through a servo motor to output power. The harmonic drive reducer is a gear drive which is assembled by a flexible bearing on a wave generator 504a to enable a flexible gear to generate controllable elastic deformation and is meshed with a rigid gear to transfer motion and power; the harmonic reducer 504 has the characteristics of high reduction ratio, large torque and low noise. The working principle of the harmonic reducer 504 is as follows: the harmonic reducer 504 is mainly composed of three basic components: the flexible gear comprises a rigid gear 504c, a flexible gear 504b and a wave generator 504a, wherein the rigid gear 504c is provided with an inner gear ring, the flexible gear 504b is embedded in the rigid gear 504c and is provided with an outer gear ring, the inner gear ring and the outer gear ring are mutually engaged, and the wave generator 504a is tightly pressed and attached to the inner wall of the flexible gear 504 b. The wave generator 504a is a rod-shaped member, and rolling bearings 504d are mounted at both ends of the rod-shaped member to form rollers, which are pressed against the inner wall of the flexspline 1. The flexspline 504b is a thin-walled gear 504e that can produce large elastic deformation, and the inner hole diameter thereof is slightly smaller than the overall length of the wave generator 504 a. The wave generator 504a is a member that generates a controlled elastic deformation of the flexspline 504 b. When the wave generator 504a is installed in the flexible gear 504b, the cross section of the flexible gear 504b is forced to change from the original circular shape to an elliptical shape, and the teeth near the two ends of the major axis thereof are completely engaged with the teeth of the rigid gear 504c, while the teeth near the two ends of the minor axis thereof are completely disengaged from the rigid gear 504 c. The teeth of the other sections on the perimeter are in a transition state of engagement and disengagement. When the wave generator 504a continuously rotates in the direction shown in the figure, the flexible gear 504b is deformed continuously, and the state of engagement between the flexible gear 504b and the rigid gear 504c is also changed continuously, and the flexible gear 504b is engaged, disengaged, and re-engaged … … repeatedly and continuously, so that slow rotation of the flexible gear 504b relative to the rigid gear 504c in the direction opposite to the wave generator 504aH is realized. When the device works, the rigid wheel 504c is fixed, the wave generator 504a is driven by the motor to rotate, the flexible wheel 504b serves as a driven wheel, and output rotation is carried out to drive a load to move. During the driving process, the wave generator 504a rotates once, and the number of cycles of deformation of a certain point on the flexible gear 504b is called the wave number, which is denoted by n. The pitch of the flexspline 504b and the rigid spline 504c in harmonic gear transmission is the same, but the number of teeth is different, and the difference between the number of teeth of the rigid spline 504c and the flexible spline 504b is equal to the wave number, i.e. z2-z 1= n. Wherein z1 and z2 represent the number of teeth of the flexible gear 504b and the rigid gear 504c, respectively. When the rigid gear 504c is fixed, the generator is driven and the flexible gear 504b is driven, the transmission ratio of the harmonic gear transmission is i = -z1/(z2-z1), in the double-wave transmission, z2-z 1=2, and the number of teeth of the flexible gear 504b is large. The negative sign of the above equation indicates that the direction of rotation of the flexspline 504b is opposite to the direction of rotation of the wave generator 504 a. It can be seen that a very large transmission ratio can be achieved with a harmonic reducer.
The collected sample is put into the containing basket 1 through the cooperative work of the mechanical arm 5 and the mechanical claw 7 and is tightly covered through the sealing cover 8;
after the sample of gathering is put into and is accomodate basket 1 and sealed completion, operating personnel controls this underwater robot come-up: the water storage tank utilizes pressure to drain water outwards, and the weight of the collecting robot is reduced at the moment, so that the collecting robot starts to float upwards.
In addition, the underwater robot can perform operations such as accelerating floating, advancing and retreating, steering and the like by the hidden propeller 2 with the blades 202 while floating and submerging by using the water storage tank. The hidden propeller 2 of paddle 202 works, through the cooperation work between power generator and the wind channel former, wherein four hidden propellers 2 of paddle 202 that are installed perpendicular to the horizontal plane are used for controlling the floating speed of the acquisition robot, two hidden propellers 2 of paddle 202 that the angle is adjustable installation are used for controlling the acquisition robot and go forward and turn to, wherein the angle of regulation is controlled through step motor, the control range is for using the water flat line as the positive and negative 45 degrees of benchmark line, through controlling the hidden propeller 2 of paddle 202 of both sides respectively, can produce the thrust that the resultant force direction is arbitrary direction, thereby control this underwater robot and turn to.
It is worth mentioning that the specific working principle of the hidden propeller 2 with blades 202 is as follows: after the air is formed in the power generator and passes through the air channel former, the air flow is finally ejected from the preset gap 206 and carries with the surrounding air to form negative pressure forwards, and finally thrust capable of pushing the underwater robot to move forwards is formed. The device utilizes "entrainment" principle, plays the effect that the air current enlargies, when a bunch of air current sharply passes through, it can drag surrounding air, follows it and moves. When the air stream is blown out of the predetermined gap 206 at 55 miles per hour, it will entrain ambient air forward along with it; the air pressure behind the air channel former will drop and cause more air to be added behind to balance the air pressure, resulting in a significant amplification of the air flow proceeding in the same direction, up to 15 times the extraction of the turbofan itself.
The image acquisition unit collects image data in real time and transmits signals to the user terminal through radio; it is worth mentioning that the image acquisition unit comprises a pair of cameras 11, a pair of illuminating lamps 10 and a pair of distance sensors 9, the cameras 11 are arranged according to the position relationship of human eyes, the illuminating lamps 10 are arranged at two sides of the cameras 11, and the distance sensors 9 are arranged above the cameras 11 at a preset distance; the camera 11 is used for collecting peripheral image data, the illuminating lamp 10 is used for deep sea illumination, the distance sensor 9 is used for sensing the distance of a front obstacle and making active avoidance, the distance sensor 9 utilizes an infrared working principle, when a beam of parallel infrared rays is emitted, the parallel infrared rays are shielded by the front object and then reflected back to the receiver, the time difference is calculated in real time by utilizing the single chip microcomputer, and therefore the distance between the front object and the underwater robot is calculated.
It is worth mentioning that the control circuit comprises an OV7620 camera 11 chip, an FPGA field programmable gate array, an SH-4 processor and a serial port, a channel is established between the OV7620 camera 11 chip and the FPGA field programmable gate array for transmitting data, the FPGA field programmable gate array is connected in series with the SH-4 processor, the serial port is electrically connected with the SH-4 processor, the SH-4 processor simultaneously sends an instruction to the OV7620 camera 11 chip, and two RAMs, namely random access memories, are packaged in the FPGA field programmable gate array. The camera 11 processes data through an OV7620 camera 11 chip welded on the control circuit board, so that the underwater robot has vision processing capability, and the specific working process of a vision system is as follows: firstly, moving an underwater robot to be close to a camera 11, sending trigger pulses to an image acquisition part, and then respectively sending the trigger pulses to the camera 11, illumination and the like by the image acquisition part according to a preset program; the image acquisition part receives the data of the camera 11 and converts the video signal from an analog signal to a digital signal, and finally transmits the digital signal to the user terminal by radio. The SH-4 processor is used for processing, analyzing, identifying and correcting the image data.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (2)
1. An anti-winding collecting method of an underwater collecting robot is characterized in that,
based on the following structure:
the base assembly comprises a shell, a receiving basket fixed on the shell, a sealing cover rotationally connected to the receiving basket, and a landing gear fixed at the lower end of the shell;
the driving assembly comprises six hidden propeller blades arranged at preset positions on the shell and two water storage cabins arranged in the shell and positioned at the head end and the tail end of the shell, and the water storage cabins are communicated with the outside of the shell; the hidden propellers positioned at the four corners of the shell are arranged vertical to the horizontal plane, the hidden propellers positioned at the two sides of one end of the shell are arranged in an angle-adjustable mode, the angle of adjustment is controlled by a stepping motor, and the adjustment range is 45 degrees plus or minus with the horizontal line as a datum line;
the grabbing assembly comprises a mechanical arm and a mechanical claw, wherein the mechanical arm is connected to one side of the undercarriage in a telescopic mode, and the mechanical claw is connected to one end of the mechanical arm in a telescopic mode; the mechanical arm comprises a first electric push rod fixed on the undercarriage, a connecting seat fixed at one end of the first electric push rod, a first joint rotationally connected with the connecting seat, a second joint rotationally connected with the first joint, and a second electric push rod rotationally connected with the second joint; the connecting seat is linked with the first joint and the first joint is linked with the second joint through a harmonic speed reducer, and the second joint and the second electric push rod output power through a servo motor;
the telemetering assembly comprises an image acquisition unit fixed on one side of the shell, a control circuit installed in the shell and a user terminal in wireless connection with the image acquisition unit; the control circuit comprises an OV7620 camera chip, an FPGA (field programmable gate array), an SH-4 processor and a serial port, wherein a channel is established between the OV7620 camera chip and the FPGA for transmitting data, the FPGA is connected with the SH-4 processor in series, the serial port is electrically connected with the SH-4 processor, the SH-4 processor simultaneously sends an instruction to the OV7620 camera chip, and two RAMs are packaged in the FPGA;
the paddle hidden propeller comprises a power generator and an air duct former welded on the power generator; the power generator is communicated with the shell and comprises a barrel, a driving motor fixed in the barrel and a paddle connected with an output shaft of the driving motor, and the bottom of the barrel is hollow; the air duct former comprises a first air duct part and a second air duct part which are connected with each other in a staggered manner and welded on the cylinder, a preset gap is reserved between the first air duct part and the second air duct part, and the sections of the first air duct part and the second air duct part are U-shaped, namely one end of the first air duct part is closed and the other end of the first air duct part is open;
the harmonic speed reducer comprises a rigid gear with an inner gear ring, a flexible gear which is embedded in the rigid gear and provided with an outer gear ring, and a wave generator which is tightly pressed and attached to the inner wall of the flexible gear; the wave generator comprises a rod-shaped component, and rolling bearings are respectively arranged at two ends of the rod-shaped component; the flexible gear can generate elastic deformation in a preset range;
the image acquisition unit comprises a pair of cameras, a pair of illuminating lamps and a pair of distance sensors, the cameras are arranged according to the position relation of human eyes, the illuminating lamps are arranged on two sides of the cameras, and the distance sensors are arranged above the cameras at preset distances;
the method comprises the following steps:
s1, opening the water storage cabin, injecting water into the water storage cabin, and enabling the collecting robot to sink due to continuous increase of gravity;
s2, when the acquisition robot sinks to the seabed, the grabbing component starts to work;
s3, the first electric push rod controls the mechanical arm to extend and retract integrally, a plurality of joints on the mechanical arm are matched with the second electric push rod, the mechanical claw is controlled to reach a required position, and a seabed sample is collected;
s4, putting the collected sample into a containing basket through the cooperative work of the mechanical arm and the mechanical claw, and tightly covering the sample through a sealing cover;
s5, the water storage cabin discharges water outwards by using pressure, at the moment, the weight of the collecting robot is reduced, and the collecting robot starts to float upwards;
s6, the hidden propeller blades work and work in a matching way between a power generator and an air duct former, wherein four hidden propeller blades which are arranged perpendicular to the horizontal plane are used for controlling the floating speed of the acquisition robot, and two hidden propeller blades which are arranged in an angle-adjustable way are used for controlling the forward movement and the steering of the acquisition robot; the adjusting angle is controlled by a stepping motor, the adjusting range is plus or minus 45 degrees by taking a horizontal line as a datum line, and thrust with the resultant force direction in any direction is produced by respectively controlling the paddle hidden propellers at two sides, so that the underwater robot is controlled to turn;
s7, the image acquisition unit collects image data in real time and transmits signals to the user terminal through radio; the underwater robot moves to be close to the camera, sends trigger pulses to the image acquisition part, and then the image acquisition part sends the trigger pulses to the camera, illumination and the like according to a preset program; the image acquisition part receives data of the camera, converts a video signal from an analog signal into a digital signal, and finally sends the digital signal to the user terminal through radio; the SH-4 processor is used for processing, analyzing, identifying and correcting the image data;
and S8, the user terminal sends a control instruction and transmits the control instruction to the control circuit through radio, and the control circuit drives the acquisition robot to act.
2. The anti-winding collection method of the underwater collection robot as claimed in claim 1, wherein: the user terminal comprises a portable mobile device preinstalled with a preset operating system, including but not limited to a tablet computer, a mobile phone and a smart watch; the portable mobile equipment receives data and sends instructions with the image acquisition unit through radio.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010176110.9A CN111252216B (en) | 2019-03-29 | 2019-03-29 | Anti-winding acquisition method of underwater acquisition robot |
Applications Claiming Priority (2)
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111252215A (en) | 2020-06-09 |
| CN111252216B (en) | 2021-01-29 |
| CN109878669B (en) | 2020-03-10 |
| CN111252215B (en) | 2021-06-11 |
| CN109878669A (en) | 2019-06-14 |
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