CN111319734A - Modularized reconfigurable underwater robot - Google Patents
Modularized reconfigurable underwater robot Download PDFInfo
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- CN111319734A CN111319734A CN202010294137.8A CN202010294137A CN111319734A CN 111319734 A CN111319734 A CN 111319734A CN 202010294137 A CN202010294137 A CN 202010294137A CN 111319734 A CN111319734 A CN 111319734A
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- cabin
- camera
- propeller
- module
- control
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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
- B63C11/48—Means for searching for underwater objects
- B63C11/49—Floating structures with underwater viewing devices, e.g. with windows ; Arrangements on floating structures of underwater viewing devices, e.g. on boats
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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
Abstract
The invention discloses a modularized reconfigurable underwater robot, which comprises a signal buoy and a plurality of module cabins which are connected end to end through connecting components; the signal buoy is communicated with the module cabin through a zero-buoyancy communication line; the module cabin comprises: the device comprises a camera cabin, a tail propelling cabin, a propeller cabin, a battery cabin and a control cabin; and a wireless communication and motor driving circuit is arranged in each module cabin and is used for receiving a driving control signal sent by the control cabin and further controlling each module cabin to work. When the underwater navigation device is used for navigating in water, the signal buoy receives a remote control signal sent by the receiving station, the signal is input into the control cabin through the zero buoyancy communication line, the control cabin wirelessly transmits a motor driving signal of each module cabin to each module cabin, and the module cabins further realize the functions of advancing, retreating, steering, hovering, translation, depth setting, self-stabilization, fixed-point cruise, manipulator grabbing and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a modularized reconfigurable underwater robot.
Background
With the progress of science and technology, more and more underwater robots are created, and the underwater world is explored by carrying a manipulator, a sonar, a camera and a data acquisition sensor deep under water. Most underwater robots having a mobile operation, from an autonomous cruise underwater vehicle (AUV) to a remote cable type underwater Robot (ROV), have such a problem: the work function load that can carry on is single, can only realize directional job task, can not satisfy the task demand of increasing variety.
In the application field of underwater robots, underwater salvage, underwater grabbing, underwater terrain scanning and camera shooting are the mainstream development directions at present, and the existing underwater robots are applied to specific functions when being designed and manufactured, lack of standardized design, have single structure and function, cannot be expanded to other application occasions, need to replace different underwater robots to work in the application of some complex occasions, and have poor flexibility and low efficiency. Meanwhile, the general underwater robot can not realize quick replacement of the battery underwater, so that the efficiency of the whole operation is lower. Therefore, there is a need for an underwater robot that can be applied to various scenes, can realize fast switching of different functions, and improve the operation duration and efficiency.
Disclosure of Invention
The invention aims to overcome the defects that an underwater robot in the prior art is single in functional load and cannot realize various task occasions by using one machine, and provides a modular reconfigurable underwater robot which is divided into a plurality of module cabins, adopts a unified standardized design, and is assembled into an underwater robot with a functional cabin, a propulsion mode and a battery cabin which can be changed as required by fixing each function cabin with a reserved module cabin fixing hole through bolts.
In order to achieve the purpose, the invention adopts the following technical scheme:
a modularized reconfigurable underwater robot comprises a signal buoy and a plurality of module cabins which are connected end to end through connecting components; the signal buoy is communicated with the module cabin through a zero-buoyancy communication line; the module cabin comprises:
the camera cabin is positioned at the head of the whole machine and is used for shooting underwater videos or pictures;
a tail propulsion cabin: the tail part of the whole machine is used for pushing the whole machine to move forwards and backwards;
a propeller compartment: the propeller is used for pushing the whole machine to move left and right and up and down and comprises a first propeller cabin and a second propeller cabin, wherein the head part of the first propeller cabin is connected with the tail part of the camera cabin, and the tail part of the second propeller cabin (4) is connected with the head part of the tail propeller cabin;
a battery compartment: the power supply is positioned in the middle of the whole machine and used for supplying power to the whole machine;
a control cabin: the remote control system is used for generating driving control signals of each module cabin according to the remote control signals received by the signal buoys, controlling the whole machine to move, and simultaneously transmitting the signals returned by each module cabin to a receiving station through the signal buoys;
and a wireless communication and motor driving circuit is arranged in each module cabin and is used for receiving a driving control signal sent by the control cabin and further controlling each module cabin to work.
Preferably, the connecting assembly comprises two flanges which are respectively arranged at the tail part of the front module cabin and the head part of the rear module cabin, and the two flanges are connected through bolts; and the flange plate is provided with a transmission through hole for installing a conductive column and a camera transmission cable.
Preferably, the camera cabin comprises a camera cabin, a first steering engine holder, a first camera and a first searchlight, wherein the first steering engine holder, the first camera and the first searchlight are arranged in the camera cabin; the first camera and the first searchlight are fixed on the first steering engine pan-tilt head, and videos and/or pictures shot by the first camera are transmitted to the control cabin through the camera transmission cable and then transmitted to the receiving station through the zero-buoyancy communication line and the signal buoy.
Preferably, the tail propulsion cabin comprises a tail propulsion cabin and two vertical rotating propellers arranged outside the tail propulsion cabin side by side, the vertical rotating propellers comprise propellers and propeller motors, and the propellers are driven by the propeller motors to rotate.
Preferably, the first propeller cabin and the second propeller cabin respectively comprise a propeller cabin, and a first duct and a second duct which are axially vertical to each other, wherein a vertical rotating propeller is installed in the first duct, a horizontal rotating propeller is installed in the second duct, the vertical rotating propeller and the horizontal rotating propeller respectively comprise a propeller and a propeller motor, and the propeller is driven by the propeller motor to rotate.
Preferably, the control cabin comprises a control cabin, a depth sensor and a main control chip, wherein the depth sensor and the main control chip are arranged in the control cabin; the depth sensor is used for acquiring a water pressure signal, and the main control chip is respectively in wireless connection with the wireless communication and motor driving circuit in each module cabin.
Preferably, the module cabin further comprises a functional cabin; the functional compartment is connected with the tail part of the first propeller compartment, and comprises an underwater mechanical arm compartment and/or a water ballast compartment.
Preferably, the underwater manipulator cabin comprises a manipulator cabin, a multi-degree-of-freedom manipulator arranged outside the manipulator cabin, a second camera, a second searchlight and a second steering engine holder; the multi-degree-of-freedom manipulator is installed at the bottom of the manipulator cabin through a support, and the second steering engine cradle head is installed on the multi-degree-of-freedom manipulator; and a second camera and a second searchlight are fixed on the second steering engine pan-tilt, and videos and/or pictures shot by the second camera are transmitted to the control cabin through a camera transmission cable and then transmitted to the receiving station through a zero-buoyancy communication line and a signal buoy.
Preferably, the ballast water tank comprises a ballast water chamber, a power chamber, a through stepping motor, a screw rod and a piston, wherein the through stepping motor, the screw rod and the piston are arranged in the power chamber; the power cabin is hermetically arranged inside the ballast water cabin and is communicated with the outside of the whole machine through the water inlet/outlet holes; and a screw penetrates through a central shaft of the through type stepping motor, and the end part of the screw is connected with the piston bolt.
Preferably, the signal buoy comprises a signal buoy chamber, an image transmission module and a remote controller receiver, wherein the image transmission module and the remote controller receiver are arranged in the signal buoy chamber; the image transmission module receives images or videos transmitted to the control cabin from the camera cabin and/or the function cabin through the zero buoyancy communication line; the remote controller receiver is used for receiving remote control signals, transmitting the remote control signals to the control cabin through the zero-buoyancy communication line, and transmitting return signals of the control cabin to the receiving station.
The invention has the beneficial effects that:
(1) compared with the traditional frame type underwater robot, the underwater robot has the advantages that due to the torpedo-shaped appearance, the underwater robot is small in water resistance, high in propelling efficiency and high in cruising speed.
(2) The underwater robot provided by the invention carries a power supply system, can realize autonomous navigation at a longer distance, is completely designed in a cabin type, can realize rapid replacement of a functional module cabin, and can be applied to various scenes; when the electric quantity is not enough, the quick replacement of the battery compartment can be realized through the modularized reconfigurable design, the lithium battery pack in the battery compartment flows to each module compartment through the stainless steel conductive columns between the adjacent module compartments, the electric energy is provided for the whole machine, the on-off of the power supply of the whole machine can be realized through the high-density lithium battery pack under the control of an underwater switch, and the navigation is safer.
(3) The underwater robot adopts the signal buoy for communication, the signal buoy floats in water along with the movement of the underwater robot and can receive remote control signals, and the signals are transmitted to a main control chip in a control cabin through a zero-buoyancy communication line, so that the control of the whole robot and the human-computer interaction can be realized; in addition, the control cabin transmits the acquired signals to the wireless communication and motor driving circuits in each module cabin through wireless communication after analysis, navigation control over the underwater robot is achieved, and stability is high.
Drawings
FIG. 1 is a schematic structural diagram of a modular reconfigurable underwater robot without a load;
FIG. 2 is a schematic structural diagram of a modular reconfigurable underwater robot with a multi-degree-of-freedom underwater manipulator functional cabin;
FIG. 3 is a schematic structural diagram of a modular reconfigurable underwater robot with a ballast water functional tank;
FIG. 4a is a schematic front view of a camera pod;
FIG. 4b is a schematic view of the reverse side of the camera pod;
FIG. 5 is a schematic view of a propeller pod configuration;
FIG. 6 is a schematic structural view of an underwater robot chamber;
FIG. 7 is a schematic view of the structure of a ballast tank;
FIG. 8 is a schematic diagram of a battery compartment;
FIG. 9 is a schematic view of the control cabin;
FIG. 10 is a schematic structural view of a tail propulsion pod;
FIG. 11 is a schematic structural view of a signal float;
in the figure: 1, 1-2, 1-3 and 1-4, wherein the camera cabin is a camera cabin, the first steering engine tripod head is a steering engine tripod head, and the first searchlight is a searchlight; 2 a first propeller compartment, 2-1 a first propeller compartment, 2-2 a first vertical rotary propeller, 2-3 a first horizontal rotary propeller; 3, an underwater manipulator cabin, 3-1 manipulator cabin, 3-2 multi-degree-of-freedom manipulators, 3-3 second cameras, 3-4 second searchlights, 3-5 second steering engine cloud platforms and 3-6 first threading bolts; 4a second propeller compartment, 4-1 a second propeller compartment, 4-2 a second vertical rotary propeller, 4-3 a second horizontal rotary propeller; 5 ballast water chambers, 5-1 ballast water chambers, 5-2 power chambers, 5-3 through stepping motors, 5-4 screw rods, 5-5 pistons, 5-6 water inlet/outlet holes and 5-7 second threading bolts; 6 battery cabin, 6-1 lithium battery pack and 6-2 underwater switch; 7, a control cabin 7-1, a depth sensor 7-2 and a main control chip 7-3; 8 tail propulsion cabins, 8-1 tail propulsion cabins and 8-2 third vertical rotating propellers; 9 signal buoys, 9-1 signal buoy cabins, 9-2 image transmission modules and 9-3 remote controller receivers; 10 zero buoyancy communication lines; 11 wireless communication and motor driving circuit; 12 connecting components, 12-1 flange plates, 12-2 conductive columns and 12-3 transmission through holes.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings. The technical features of the embodiments of the present invention can be combined correspondingly without mutual conflict.
As shown in fig. 1, a modular reconfigurable underwater robot comprises a signal buoy 9 and a plurality of module cabins connected end to end by connecting assemblies 12: the device comprises a camera cabin 1, a first propeller cabin 2, a battery cabin 6, a control cabin 7, a second propeller cabin 4 and a tail propulsion cabin 8; the signal buoy 9 communicates with the module compartment via a zero-buoyancy communication line 10.
The camera cabin 1 is positioned at the head of the whole machine and is used for shooting underwater videos or pictures; the tail propelling module 8 is positioned at the tail of the whole machine and is used for propelling the whole machine to move forwards and backwards; the first propeller cabin 2 and the second propeller cabin 4 are used for pushing the whole machine to move left and right and up and down, wherein the head part of the first propeller cabin 2 is connected with the tail part of the camera cabin 1, and the tail part of the second propeller cabin 4 is connected with the head part of the tail propeller cabin 8; the battery compartment 6 is positioned in the middle of the whole machine and is used for supplying power to the whole machine; the control cabin 7 is used for generating driving control signals of each module cabin according to the remote control signals received by the signal buoys 9, controlling the whole machine to move, and simultaneously transmitting the signals returned by each module cabin to the receiving station through the signal buoys. The inside of each module cabin is provided with a wireless communication and motor driving circuit 11 for receiving a driving control signal sent by the control cabin 7, and further controlling each module cabin to work, and realizing functions of navigation attitude, navigation speed, grabbing, camera shooting and the like of the underwater robot.
The modular reconfigurable underwater robot can be additionally provided with functional cabins through different module cabins on the basis of the figure 1, and different functional cabins are selected for reconfiguration according to different working environments. The functional compartment is connected with the tail part of the first propeller cabin 2 and comprises an underwater mechanical arm cabin 3 and/or a water ballast cabin 5. As shown in fig. 2-3, wherein a subsea robot bay 3 is added to fig. 2 and a ballast water bay 5 is added to fig. 3.
The module cabins are connected end to end through a connecting assembly 12, the connecting assembly 12 comprises two flange plates 12-1 which are respectively arranged at the tail part of the front module cabin and the head part of the rear module cabin, and the two flange plates 12-1 are connected through bolts; and the flange plate is provided with a transmission through hole 12-3 for installing a conductive column 12-2 and a camera transmission cable. In a specific implementation of the present invention, each flange is provided with 4 transmission through holes, wherein 2 transmission through holes are used for transmitting charges, and the transmission through holes are implemented by two conductive pillars, one conductive pillar is used for transmitting positive charges, and the other conductive pillar is used for transmitting negative charges; the other 2 through holes are used for enabling cables to penetrate through, are mainly camera transmission cables, and transmit pictures or videos shot by the cameras to the control cabin through the camera transmission cables penetrating between the adjacent module cabins. The two flange plates 12-1 with the assembled stainless steel conductive columns are matched with sealing rings and fixed at the connecting ends of the module cabins through screws, so that the cabin interior is sealed and the module cabins are connected.
In one specific implementation of the invention, an acrylic tube with the diameter of 110mm is selected as a pressure-resistant shell of each module cabin, each cabin is formed by sealing, an aluminum alloy flange plate subjected to oxidation blackening is matched with a fluorine rubber sealing ring to realize longitudinal sealing, and each module cabin is connected and fixed through bolts through screw holes reserved on the flange plate. The power supply between each module cabin adopts 12V, and the electric charge output by the battery cabin is transmitted to each module cabin through the stainless steel conductive columns on the flange plates, and meanwhile, the module cabin is internally provided with conductive copper columns and conductive wires for connecting the stainless steel conductive columns on the two flange plates in the same cabin, so that a power supply loop is realized. As shown in fig. 8, the battery compartment includes a high-density lithium battery pack and an underwater switch; the high-density lithium battery pack 6-1 is controlled by the underwater switch 6-2 to realize on-off of a power supply of the whole underwater robot, electric energy flows to each module cabin through the stainless steel conductive posts to provide electric energy for the whole underwater robot, the battery cabin can be quickly replaced by modularized reconfigurable design, the cruising ability of the underwater robot is greatly improved, quick battery replacement and battery cabin capacity expansion can be realized by independent battery cabin design, and the cruising time of the underwater robot is greatly prolonged. When the underwater navigation device is used for navigating in water, the signal buoy receives a remote control signal sent by the control end, the signal is input into the control cabin through the zero buoyancy communication line, after the control cabin processes the signal, the motor driving signal of each module cabin is wirelessly transmitted to each module cabin, and the module cabins further realize the functions of advancing, retreating, steering, hovering, translation, depth setting, self-stabilization, fixed-point cruise, manipulator grabbing and the like.
In one embodiment of the present invention, as shown in fig. 4a and 4b, the camera cabin includes a camera cabin 1-1, and a first steering engine pan-tilt head 1-2, a first camera 1-3 and a first searchlight 1-4 installed inside the camera cabin 1-1; the first camera 1-3 and the first searchlight 1-4 are fixed on the first steering engine cloud deck 1-2, the first searchlight 1-4 is used for supplementing a light source for the first camera 1-3, and videos and/or pictures shot by the first camera 1-3 are transmitted to the control cabin 7 through a camera transmission cable and then transmitted to a receiving station through the zero-buoyancy communication line 10 and the signal buoy 9.
In one embodiment of the invention, as shown in fig. 5, the first propeller compartment 2 and the second propeller compartment 4 are identical in structure, the first propeller compartment 2 comprising a first propeller compartment 2-1, a first vertically rotating propeller 2-2, a first horizontally rotating propeller 2-3; the second propeller cabin 4 comprises a second propeller cabin 4-1, a second vertical rotating propeller 4-2 and a second horizontal rotating propeller 4-3; the propeller cabin is provided with a first duct and a second duct which are vertical to each other in the axial direction, the first duct is internally provided with a vertical rotating propeller, the second duct is internally provided with a horizontal rotating propeller, and the vertical rotating propeller and the horizontal rotating propeller are used for realizing the motions (the left-right motion and the up-down motion) in two directions; the vertical rotation propeller and the horizontal rotation propeller both comprise propellers and propeller motors, and the propellers are driven to rotate by the propeller motors. The wireless communication and motor driving circuit 11 in the first propeller cabin 2 and the second propeller cabin 4 is used for receiving control signals wirelessly transmitted by a main control chip in the control cabin 7 and outputting the control signals to the two vertical rotating propellers and the horizontal rotating propellers, so that the steering and self-stabilizing functions of the underwater robot are realized.
In one specific implementation of the invention, as shown in fig. 6, the underwater manipulator cabin 3 comprises a manipulator cabin 3-1, a multi-degree-of-freedom manipulator 3-2 installed outside the manipulator cabin 3-1, a second camera 3-3, a second searchlight 3-4 and a second steering engine cradle head 3-5; the multi-degree-of-freedom manipulator 3-2 is installed at the bottom of the manipulator cabin 3-1 through a support, and the second steering engine cradle head 3-5 is installed on the multi-degree-of-freedom manipulator 3-2; and a second camera 3-3 and a second searchlight 3-4 are fixed on the second steering engine pan-tilt 3-5, and videos and/or pictures shot by the second camera 3-3 are transmitted to the control cabin 7 through a camera transmission cable and then transmitted to a receiving station through a zero-buoyancy communication line 10 and a signal buoy 9. The multi-degree-of-freedom manipulator 3-2 can extend and grab in a certain range under the driving of the steering engine, a manipulator camera can provide an underwater view in a view blind area of a first steering engine holder 1-2 in a camera cabin and is used for assisting underwater grabbing, the second searchlight 3-4 can provide underwater illumination for the second camera 3-3, all wires enter the underwater manipulator cabin through the first threading bolt 3-6, sealing is achieved, and underwater grabbing and shooting operation of the multi-degree-of-freedom can be achieved.
In one embodiment of the present invention, as shown in fig. 7, the ballast water tank 5 comprises a ballast water chamber 5-1, a power chamber 5-2, and a through stepping motor 5-3, a screw 5-4 and a piston 5-5 installed inside the power chamber 5-2; the power cabin 5-2 is hermetically arranged inside the ballast water cabin 5-1, and the power cabin 5-2 is communicated with the outside of the whole machine through a water inlet/outlet hole 5-6; a screw rod 5-4 penetrates through a central shaft of the through type stepping motor 5-3, and the end part of the screw rod 5-4 is connected with a piston 5-5 through a bolt. The screw rod 5-4 and the piston 5-5 are connected through a bolt and then inserted into the ballast water tank, after the screw rod 5-4 penetrates through the through type stepping motor 5-3, the piston can be pulled to move back and forth in the rotation process of the through type stepping motor, water outside the tank can enter/exit the power tank 5-2 in the ballast water tank from the water inlet/outlet hole 5-6 of the power tank 5-2 through the second threading bolt 5-7 and then through the pneumatic connector, so that water absorption and drainage are realized, the balance of buoyancy and gravity is destroyed, and the underwater hovering and water surface floating states of the underwater robot are changed.
In one embodiment of the present invention, as shown in fig. 9, the control cabin 7 includes a control cabin 7-1, and a depth sensor 7-2 and a main control chip 7-3 installed inside the control cabin 7-1; the depth sensor 7-2 is used for acquiring a water pressure signal and performing seabed depth setting operation according to the water pressure signal; the main control chip 7-3 is respectively in wireless connection with the wireless communication and motor driving circuit 11 in each module cabin. The depth sensor 7-2 transmits a water pressure signal to the main control chip 7-3, the main control chip 7-3 wirelessly transmits a motor driving signal of each module to a wireless communication and motor driving circuit of each module after data processing, each module further controls a motor in the module to operate according to the motor driving signal transmitted by the main control chip, and the main control chip 7-3 simultaneously transmits video signals transmitted by the first camera 1-3 and the second camera 3-3 to the signal buoy 9, so that communication with a receiving station is further realized.
In one embodiment of the present invention, as shown in fig. 10, the tail propulsion cabin 8 includes a tail propulsion cabin 8-1 and two third vertical rotary propellers 8-2 installed side by side outside the tail propulsion cabin, and the vertical rotary propellers include propellers and propeller motors, and the propellers are rotated by the propeller motors. The tail propulsion cabin 8 adopts a drag reduction shell, and propellers of two third vertical rotating propellers 8-2 which are horizontally arranged rotate to generate thrust to push the underwater robot to move forward and backward.
In one embodiment of the present invention, as shown in fig. 11, the signal buoy 9 comprises a signal buoy chamber 9-1, and an image transmission module 9-2 and a remote controller receiver 9-3 which are installed inside the signal buoy chamber 9-1; the image transmission module 9-2 receives images or videos transmitted to the control cabin 7 from the camera cabin 1 and/or the function cabin through the zero-buoyancy communication line 10; the remote controller receiver 9-3 is used for receiving remote control signals, transmitting the remote control signals to the control cabin 7 through the zero-buoyancy communication line 10, and transmitting return signals of the control cabin 7 to a receiving station, so that control and man-machine interaction of the whole machine are realized.
As shown in fig. 2, in one embodiment of the present invention, a modular reconfigurable underwater robot comprises a camera cabin 1, a first thruster cabin 2, an underwater manipulator cabin 3, a battery cabin 4, a control cabin 5, a second thruster cabin 4, a tail thruster cabin 8 and a signal buoy. The modular reconfigurable underwater robot with the multi-degree-of-freedom underwater manipulator functional cabin is used for finishing underwater grabbing work, and the specific working mode is as follows: the camera cabin 1 is located at the foremost end of the whole machine and is sequentially connected with the first propeller cabin 2, the underwater manipulator cabin 3, the battery cabin 4, the control cabin 5, the second propeller cabin 4 and the tail propelling cabin 8 end to end through the connecting assembly 12, and the signal buoy 9 is communicated with the control cabin 7 through the zero-buoyancy communication line 10. The camera cabin 1 is used for acquiring a visual angle in front of the underwater robot and accessing a video signal to the control cabin 7 through the stainless steel conductive column; the first propeller cabin 2 and the second propeller cabin 4 are used for realizing the up-and-down and left-and-right movement of the underwater robot, and the tail propulsion cabin 8 is used for realizing the forward and backward movement of the underwater robot; the electric energy of the battery compartment 6 is output to each module functional compartment through the stainless steel conductive column; the signal buoy 9 is in two-way communication with a ground station of a remote control person through radio, transmits video signals to a screen of the ground station in a wireless mode, receives control signals on the ground station, inputs the control signals into the control cabin 7 through the zero-buoyancy communication line 10, and is analyzed and processed by the main control chip 7-3. The second camera 3-3 and the second searchlight 3-4 on the underwater manipulator cabin 3 can provide vision and illumination for the manipulator when the manipulator works.
As shown in fig. 3, in one embodiment of the present invention, a modular reconfigurable underwater robot comprises a camera tank 1, a first propeller tank 2, a water ballast tank 5, a battery tank 4, a control tank 5, a second propeller tank 4, a tail propulsion tank 8 and a signal buoy. The modularized reconfigurable underwater robot with the ballast water functional cabin is used for completing water quality sampling or realizing water surface floating work, the specific working mode of the modularized reconfigurable underwater robot with the multi-degree-of-freedom underwater manipulator functional cabin is approximately the same as the working mode of the modularized reconfigurable underwater robot with the multi-degree-of-freedom underwater manipulator functional cabin shown in figure 2 for completing underwater grabbing work, and the modularized reconfigurable underwater robot with the ballast water functional cabin is different in that: a piston cylinder structure consisting of a screw rod 5-4, a piston 5-5 and a power cabin 5-2 is arranged in the ballast water tank, and the forward and backward movement of the piston 5-5 can be realized through the forward and backward rotation of a through type stepping motor 5-3, so that the water absorption and the water drainage are realized; the water outside the cabin firstly enters the power cabin 5-2 entering/exiting the ballast water cabin from the water inlet/outlet hole 5-6 of the power cabin 5-2 through the threading bolt and then the pneumatic connector, so that the water absorption and drainage are realized, the balance of buoyancy and gravity is destroyed, and the underwater hovering and water surface floating states of the underwater robot are changed. The ballast water tank can be used for sampling water quality with fixed depth at fixed points under water, and can also be used for breaking the balance between buoyancy and gravity to realize long-time water surface floating.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, to the extent that modifications and variations of the disclosed apparatus are within the scope of the claims and their equivalents, it is intended that the invention be covered by the claims and their equivalents.
Claims (10)
1. The modularized reconfigurable underwater robot is characterized by comprising a signal buoy (9) and a plurality of module cabins which are connected end to end through connecting components; the signal buoy (9) is communicated with the module cabin through a zero-buoyancy communication line (10); the module cabin comprises a camera cabin (1), a battery cabin (6), a control cabin (7), a tail propelling cabin (8) for the whole machine to move forwards and backwards, and a propeller cabin for the whole machine to move left and right and up and down;
the camera cabin (1) is positioned at the head of the whole machine, and the tail propelling cabin (8) is positioned at the tail of the whole machine; the propeller cabin comprises a first propeller cabin (2) and a second propeller cabin (4), the head of the first propeller cabin (2) is connected with the tail of the camera cabin (1), and the tail of the second propeller cabin (4) is connected with the head of the tail propeller cabin (8); the battery compartment (6) and the control compartment (7) are positioned in the middle of the whole machine; and a wireless communication and motor driving circuit (11) for receiving the driving control signal is arranged in each module cabin.
2. A modular reconfigurable underwater robot as claimed in claim 1, characterized in that said connection assembly (12) comprises two flanges (12-1) mounted respectively at the tail of the previous module and at the head of the subsequent module, the two flanges being connected by bolts; and the flange plate is provided with a transmission through hole (12-3) for installing a conductive column (12-2) and a camera transmission cable.
3. The modular reconfigurable underwater robot of claim 1, wherein the camera cabin (1) comprises a camera cabin (1-1), and a first steering engine pan-tilt head (1-2), a first camera (1-3) and a first searchlight (1-4) which are arranged inside the camera cabin (1-1); the first camera (1-3) and the first searchlight (1-4) are fixed on the first steering engine cloud deck (1-2), and videos and/or pictures shot by the first camera (1-3) are transmitted to the control cabin (7) through a camera transmission cable and then transmitted to the receiving station through the zero-buoyancy communication line (10) and the signal buoy (9).
4. The underwater robot of claim 1, wherein said tail propulsion cabin (8) comprises a tail propulsion cabin (8-1) and two vertical rotary propellers mounted side by side outside said tail propulsion cabin, said vertical rotary propellers comprising propellers and propeller motors, said propellers being rotated by said propeller motors.
5. The modular reconfigurable underwater robot of claim 1, characterized in that said first (2) and second (4) thruster pods each comprise a thruster pod and two axially mutually perpendicular first and second ducts, said first duct having a vertically rotating thruster mounted therein and said second duct having a horizontally rotating thruster mounted therein, said vertically rotating thrusters and said horizontally rotating thrusters each comprising a propeller and a propeller motor, said propeller being rotated by said propeller motor.
6. The modular reconfigurable underwater robot according to claim 1, characterized in that said control pod (7) comprises a control pod (7-1), and a depth sensor (7-2) and a master control chip (7-3) mounted inside the control pod (7-1); the depth sensor (7-2) is used for acquiring a water pressure signal, and the main control chip (7-3) is respectively in wireless connection with the wireless communication and motor driving circuit (11) in each module cabin.
7. The modular reconfigurable underwater robot of claim 1, wherein the module bay further comprises a function bay; the functional cabin is connected with the tail part of the first propeller cabin (2), and comprises an underwater mechanical arm cabin (3) and/or a water ballast cabin (5).
8. The modular reconfigurable underwater robot according to claim 1 or 7, characterized in that said signal buoy (9) comprises a signal buoy chamber (9-1), and an image transmission module (9-2) and a remote control receiver (9-3) mounted inside the signal buoy chamber (9-1); the image transmission module (9-2) receives images or videos transmitted to the control cabin (7) from the camera cabin (1) and/or the functional cabin through the zero-buoyancy communication line (10); the remote controller receiver (9-3) is used for receiving remote control signals, transmitting the remote control signals to the control cabin (7) through the zero-buoyancy communication line (10), and transmitting return signals of the control cabin (7) to the receiving station.
9. The modular reconfigurable underwater robot according to claim 7, wherein the underwater manipulator cabin (3) comprises a manipulator cabin (3-1), and a multi-degree-of-freedom manipulator (3-2), a second camera (3-3), a second searchlight (3-4) and a second steering engine pan-tilt (3-5) which are arranged outside the manipulator cabin (3-1); the multi-degree-of-freedom manipulator (3-2) is installed at the bottom of the manipulator cabin (3-1) through a support, and the second steering engine cradle head (3-5) is installed on the multi-degree-of-freedom manipulator (3-2); and a second camera (3-3) and a second searchlight (3-4) are fixed on the second steering engine pan-tilt (3-5), and videos and/or pictures shot by the second camera (3-3) are transmitted to a control cabin (7) through a camera transmission cable and then transmitted to a receiving station through a zero-buoyancy communication line (10) and a signal buoy (9).
10. The modular reconfigurable underwater robot according to claim 7, wherein the ballast tank (5) comprises a ballast tank (5-1), a power tank (5-2), and a through stepping motor (5-3), a screw (5-4) and a piston (5-5) which are installed inside the power tank (5-2); the power cabin (5-2) is hermetically arranged inside the ballast water cabin (5-1), and the power cabin (5-2) is communicated with the outside of the whole machine through a water inlet/outlet hole (5-6); a screw rod (5-4) penetrates through a central shaft of the through type stepping motor (5-3), and the end part of the screw rod (5-4) is connected with the piston (5-5) through a bolt.
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| CN202010294137.8A CN111319734A (en) | 2020-04-15 | 2020-04-15 | Modularized reconfigurable underwater robot |
| PCT/CN2020/125893 WO2021208409A1 (en) | 2020-04-15 | 2020-11-02 | Modular reconfigurable underwater robot |
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| CN202010294137.8A CN111319734A (en) | 2020-04-15 | 2020-04-15 | Modularized reconfigurable underwater robot |
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