CN111896966A - Distance measuring device for underwater robot - Google Patents
Distance measuring device for underwater robot Download PDFInfo
- Publication number
- CN111896966A CN111896966A CN202010710455.8A CN202010710455A CN111896966A CN 111896966 A CN111896966 A CN 111896966A CN 202010710455 A CN202010710455 A CN 202010710455A CN 111896966 A CN111896966 A CN 111896966A
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- China
- Prior art keywords
- robot main
- motor
- distance measuring
- connecting pipe
- measuring device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000011521 glass Substances 0.000 claims abstract description 10
- 238000005188 flotation Methods 0.000 claims description 11
- 239000004831 Hot glue Substances 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 2
- 238000005259 measurement Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to the technical field of underwater robots, in particular to a distance measuring device of an underwater robot, which comprises a robot main body, wherein buoys are symmetrically arranged on two sides of the robot main body and are installed on the robot main body through connecting pipes, an installation frame is arranged in the robot main body, a steering motor is arranged in each connecting pipe, a motor shaft of each steering motor is fixedly connected with a fixed block, each fixed block is installed on the installation frame, each connecting pipe penetrates through a through hole in the robot main body and is movably connected with the through hole through a shaft seal bearing, infrared glass is arranged at the tail end of each buoy, an infrared distance meter is arranged on one side, located on the infrared glass, in each buoy, a storage battery, a wireless module, an integrated unit and a controller are further arranged in each buoy.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a distance measuring device for an underwater robot.
Background
Brief introduction: 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. At present, underwater robots are widely applied in China, particularly in the fields of marine research, marine oil exploration, marine life saving, marine geology, landform, mineral product investigation and the like. The underwater robot distance measurement is one of the basic applications, in the underwater robot distance measurement, when an ultrasonic wave distance measuring instrument generates an ultrasonic wave, a driving circuit is required to drive an energy converter to emit the ultrasonic wave, and the driving circuit is required to increase larger energy when the ultrasonic wave with a certain distance is generated due to larger energy loss of the underwater sound wave, and meanwhile, a green-blue laser distance measuring device also needs to consume huge energy due to the fact that laser is required to be generated. In addition, because including the front end transducer among the ultrasonic ranging appearance, including front end optical system among the green blue laser range finder, the front end transducer is big with optical system volume and weight usually, and then has restricted ultrasonic ranging equipment or green blue laser range finder to use on small-size underwater robot equipment, and infrared range finder is because of the small power consumption low generally used at range finding under water, and install the infrared range finder on underwater robot often can not the autonomous regulation survey position, and then cause the measuring region narrow.
Disclosure of Invention
In order to solve the problems, the invention provides a distance measuring device for an underwater robot.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an underwater robot distance measuring device, includes the robot main part, the bilateral symmetry of robot main part is equipped with the flotation pontoon, the flotation pontoon pass through the connecting pipe and install in the robot main part, the robot main part in be equipped with the mounting bracket, the connecting pipe in be equipped with and turn to the motor, the motor shaft that turns to the motor on link firmly the fixed block, the fixed block install on the mounting bracket, the connecting pipe pass the through-hole in the robot main part and pass through shaft seal bearing swing joint with the through-hole, the end of flotation pontoon be equipped with infrared glass, the flotation pontoon in lie in infrared glass one side and be equipped with infrared distance meter, the flotation pontoon in still be equipped with battery, wireless module, integrated unit and controller.
As optimization, the mounting bracket link firmly in the robot main part, the mounting bracket on be equipped with spacing hole, the shape in spacing hole be the cross, the shape and the spacing hole shape of fixed block shape with the same.
Preferably, the motor is a brushless motor, and the storage battery is a lithium battery.
Preferably, the steering motor is fixed in the connecting pipe, and the inner diameter of the connecting pipe is larger than the outer diameter of the steering motor.
And optimally, after the fixed block is arranged in the limiting hole, the fixed block is further fixed by using hot melt adhesive.
The beneficial effect of this scheme is: the controller can receive the signal transmitted by the wireless module and control the rotation of the motor, the infrared distance meter can send the measurement information to the wireless module, when the worker needs to change the position measured by the infrared distance meter, the remote computer end sends a signal to the wireless module, the wireless module transmits the signal to the controller after receiving the signal, the controller controls the steering motor to start after receiving and processing the signal, the steering motor drives the rotating shaft of the motor to rotate when starting, because the motor rotating shaft is fixedly connected with the robot main body through the fixed block and the fixed frame, the motor main body rotates around the rotating shaft of the motor under the action of acting force and reacting force, the rotation of the motor drives the floating barrel to rotate through the vertical rod, the rotation of the floating barrel drives the infrared distance meter to rotate through the supporting rod, thereby, the measuring area of the infrared distance meter can be changed, wherein the infrared glass will not influence the transmission and reception of the infrared distance meter. The angle of the buoy can be adjusted through rotation of the motor by using the device, and then the angle measured by the infrared distance measuring instrument is adjusted. Thereby increasing the measurement area. In addition, install the motor and make the device can not only install the adjustment of accomplishing infrared distance meter angle on underwater robot in the flotation pontoon, install the adjustment that can accomplish the angle in other devices equally, and then increase the scope of device adaptation.
Drawings
FIG. 1 is a schematic axial view of the present invention.
FIG. 2 is a schematic view of the buoy and the robot body according to the present invention.
FIG. 3 is a schematic view of the structure of the buoy of the present invention.
Fig. 4 is a schematic structural view of the mounting rack of the present invention.
FIG. 5 is a schematic view of the internal structure of the buoy of the present invention.
FIG. 6 is a schematic view of a pontoon position in front view according to the invention.
Fig. 7 is a schematic cross-sectional view of the internal structure of fig. 6 at a in accordance with the present invention.
The robot comprises a robot main body 1, a robot main body 2, a buoy 3, a connecting pipe 4, a mounting frame 5, a steering motor 6, a motor shaft 7, a fixing block 8, a through hole 9, a shaft sealing bearing 10, infrared glass 11, an infrared distance meter 12, a storage battery 13, a wireless module 14, an integrated unit 15, a controller 16 and a limiting hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
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 or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the embodiment shown in fig. 1, the underwater robot distance measuring device comprises a robot main body 1, wherein buoys 2 are symmetrically arranged on two sides of the robot main body 1, the buoy 2 is arranged on the robot main body 1 through a connecting pipe 3, a mounting frame 4 is arranged in the robot main body 1, a steering motor 5 is arranged in the connecting pipe 3, a motor shaft 6 of the steering motor 5 is fixedly connected with a fixed block 7, the fixing block 7 is arranged on the mounting frame 4, the connecting pipe 3 passes through a through hole 8 on the robot main body 1 and is movably connected with the through hole 8 through a shaft seal bearing 9, the tail end of the float 2 is provided with infrared glass 10, one side of the float 2, which is positioned on the infrared glass 10, is provided with an infrared distance meter 11, the buoy 2 is also internally provided with a storage battery 12, a wireless module 13, an integrated unit 14 and a controller 15.
Mounting bracket 4 link firmly in robot main part 1, mounting bracket 4 on be equipped with spacing hole 16, spacing hole 16's shape be the cross, the shape of fixed block 7 and spacing 16 shapes of hole be the same.
In order to reduce the total mass of the device, the motor is a brushless motor, and in order to further reduce the mass of the device, the storage battery 12 is a lithium battery.
The steering motor 5 is fixed in the connecting pipe 3, and the inner diameter of the connecting pipe 3 is larger than the outer diameter of the steering motor 5.
In order to facilitate the disassembly and assembly and maintenance, the fixing block 7 is further fixed by using hot melt adhesive after being installed in the limiting hole 16.
The working principle is as follows: the angle of the buoy 2 can be adjusted through the rotation of the steering motor 5 when the device is used, and then the angle measured by the infrared distance measuring instrument 11 is adjusted. Thereby increasing the measurement area. In addition, the steering motor 5 is arranged in the buoy 2, so that the device can be arranged on an underwater robot to complete the angle adjustment of the infrared distance measuring instrument 11, can also complete the angle adjustment in other devices, and further increases the adaptive range of the device.
The above embodiments are only specific cases of the present invention, and the protection scope of the present invention includes but is not limited to the product form and style of the above embodiments, and any suitable changes or modifications of the underwater robot distance measuring device according to the claims of the present invention and those of ordinary skill in the art should fall within the protection scope of the present invention.
Claims (5)
1. An underwater robot distance measuring device characterized in that: including the robot main part, the bilateral symmetry of robot main part is equipped with the flotation pontoon, the flotation pontoon pass through the connecting pipe and install in the robot main part, the robot main part in be equipped with the mounting bracket, the connecting pipe in be equipped with and turn to the motor, the motor shaft that turns to the motor on link firmly the fixed block, the fixed block install on the mounting bracket, the connecting pipe pass the through-hole in the robot main part and pass through axle seal bearing swing joint with the through-hole, the end of flotation pontoon be equipped with infrared glass, the flotation pontoon in be located infrared glass one side and be equipped with infrared range finder, the flotation pontoon in still be equipped with battery, wireless module, integrated unit and controller.
2. The underwater robot distance measuring device according to claim 1, characterized in that: the mounting bracket link firmly in the robot main part, the mounting bracket on be equipped with spacing hole, the shape in spacing hole be the cross, the shape and the spacing hole shape of fixed block shape with.
3. The underwater robot distance measuring device according to claim 1, characterized in that: the motor adopts a brushless motor, and the storage battery adopts a lithium battery.
4. The underwater robot distance measuring device according to claim 1, characterized in that: the steering motor is fixed in the connecting pipe, and the inner diameter of the connecting pipe is larger than the outer diameter of the steering motor.
5. The underwater robot distance measuring device according to claim 1, characterized in that: and after the fixed block is arranged in the limiting hole, the fixed block is further fixed by using hot melt adhesive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010710455.8A CN111896966A (en) | 2020-07-22 | 2020-07-22 | Distance measuring device for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010710455.8A CN111896966A (en) | 2020-07-22 | 2020-07-22 | Distance measuring device for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111896966A true CN111896966A (en) | 2020-11-06 |
Family
ID=73189804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010710455.8A Pending CN111896966A (en) | 2020-07-22 | 2020-07-22 | Distance measuring device for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111896966A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206155756U (en) * | 2016-10-28 | 2017-05-10 | 重庆交通大学 | Keep away barrier formula underwater robot |
| KR20170094725A (en) * | 2016-02-11 | 2017-08-21 | 한국기술교육대학교 산학협력단 | Compact underwater robot |
| CN108387903A (en) * | 2018-03-06 | 2018-08-10 | 中电科海洋信息技术研究院有限公司 | Undersea ranging device |
| CN209445977U (en) * | 2019-03-06 | 2019-09-27 | 天津海之星水下机器人有限公司 | Undersea ranging device for underwater robot |
| CN110387863A (en) * | 2019-08-19 | 2019-10-29 | 陕西中建建乐智能机器人有限公司 | A kind of garbage reclamation robot waterborne |
-
2020
- 2020-07-22 CN CN202010710455.8A patent/CN111896966A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170094725A (en) * | 2016-02-11 | 2017-08-21 | 한국기술교육대학교 산학협력단 | Compact underwater robot |
| CN206155756U (en) * | 2016-10-28 | 2017-05-10 | 重庆交通大学 | Keep away barrier formula underwater robot |
| CN108387903A (en) * | 2018-03-06 | 2018-08-10 | 中电科海洋信息技术研究院有限公司 | Undersea ranging device |
| CN209445977U (en) * | 2019-03-06 | 2019-09-27 | 天津海之星水下机器人有限公司 | Undersea ranging device for underwater robot |
| CN110387863A (en) * | 2019-08-19 | 2019-10-29 | 陕西中建建乐智能机器人有限公司 | A kind of garbage reclamation robot waterborne |
Non-Patent Citations (1)
| Title |
|---|
| 刘大龙;许丽娟;: "基于传感网络的水下机器人控制器设计", 计算机测量与控制, no. 02 * |
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Application publication date: 20201106 |
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| WD01 | Invention patent application deemed withdrawn after publication |