CN112623165A - Underwater robot walking mechanism - Google Patents
Underwater robot walking mechanism Download PDFInfo
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- CN112623165A CN112623165A CN202011620865.XA CN202011620865A CN112623165A CN 112623165 A CN112623165 A CN 112623165A CN 202011620865 A CN202011620865 A CN 202011620865A CN 112623165 A CN112623165 A CN 112623165A
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- buoyancy
- walking
- foot
- sinking
- oil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention relates to the technical field of robot control systems, in particular to an underwater robot walking mechanism, which comprises: comprises a chassis, wherein a four-foot walking mechanism and a buoyancy adjusting mechanism are arranged on the chassis; the multi-foot walking mechanism is used for driving the chassis to move and comprises a plurality of walking feet, and sinking detection sensors are arranged on the walking feet; the buoyancy adjusting mechanism is used for providing buoyancy for the chassis and adjusting the buoyancy according to a signal of the control system; the device also comprises a sinking detection module and a buoyancy control module, wherein the sinking detection module is used for receiving data of the sinking detection sensor and judging whether the walking feet sink or not according to the data of the sinking detection sensor; the buoyancy control module is used for controlling the buoyancy adjusting mechanism to increase the buoyancy after the sinking detection module detects that the walking foot sinks. The underwater robot walking mechanism can avoid the influence on task completion efficiency caused by the fact that the underwater robot is deeply sunk into the water bottom.
Description
Technical Field
The invention relates to the technical field of robot control systems, in particular to an underwater robot walking mechanism.
Background
The underwater robot is commonly used in water quality surveying, organism sample collection and other works, and due to the complex underwater condition and the existence of a large amount of silt on the underwater ground, the underwater robot sinks into the silt very easily in the walking process, so that the working efficiency and progress are influenced, and in severe cases, the underwater robot can be blocked or damaged, so that not only can the task not be completed, but also extra loss is caused to users.
Disclosure of Invention
The invention aims to provide a walking mechanism of an underwater robot, which can avoid the influence on task completion efficiency caused by the underwater robot sinking into the water bottom.
The application provides the following technical scheme:
the underwater robot walking mechanism comprises a chassis, wherein a four-foot walking mechanism and a buoyancy adjusting mechanism are arranged on the chassis;
the multi-foot walking mechanism is used for driving the chassis to move and comprises a plurality of walking feet, sinking detection sensors are arranged on the walking feet and are in signal connection with the control system, and the sinking detection sensors are used for sending detection data to the control system;
the buoyancy adjusting mechanism is used for providing buoyancy for the chassis and adjusting the buoyancy according to a signal of the control system;
the control system comprises a sinking detection module and a floating force control module, wherein the sinking detection module is used for receiving data of a sinking detection sensor and judging whether the walking foot sinks or not according to the data of the sinking detection sensor; and the buoyancy control module is used for controlling the buoyancy adjusting mechanism to increase the buoyancy after the subsidence detection module detects that the walking foot is sunken.
Further, the sinking detection sensor comprises a distance sensor, the distance sensor is used for detecting the distance from the top of the walking foot to the ground, and the sinking detection module judges the depth of the walking foot penetrating into the ground through the data of the distance sensor and judges whether the walking foot sinks according to the depth.
Further, the sinking detection sensor also comprises an acceleration sensor, the acceleration sensor is used for detecting the longitudinal acceleration of each walking foot, and the sinking detection module judges whether the walking feet sink or not according to the data of the acceleration sensor.
Further, buoyancy adjustment mechanism includes oil tank, oil pump and flexible oil pocket, oil pump and control system signal connection, the volume that the buoyancy control module changes the oil mass in the flexible oil pocket through control oil pump change oil pocket realizes that the buoyancy size is adjusted.
Further, the telescopic oil bag comprises a main oil bag and foot oil bags, each walking foot is provided with one foot oil bag, the foot oil bags and the main oil bags are communicated with an oil pump and an oil tank through electromagnetic valves and oil paths, the sinking detection module is further used for detecting the sinking degree of each walking foot, the buoyancy control module is used for generating the regulating quantity of the foot oil bags corresponding to each walking foot according to the sinking degree of each walking foot, the buoyancy control module regulates the buoyancy of each foot oil bag according to the regulating quantity, and the buoyancy control module controls the independent buoyancy of each foot oil bag by controlling the opening and closing states of the electromagnetic valves corresponding to each foot oil bag.
Further, still including the structure of saving oneself, the structure of saving oneself includes compression gasbag and gas generating device, gas generating device includes the casing, be equipped with heater, sodium azide, potassium nitrate and silica in the casing, compression gasbag and casing intercommunication, heater and control system signal connection, control system still includes deep sunken fault detection module, deep sunken fault detection module is used for judging whether the walking is sufficient to stop sinking and whether can freely remove according to the testing result of sinking detection module after the buoyancy control module adjusts, if then do not have deep sunken trouble, if otherwise judge that there is deep sunken trouble, control system still includes the heating control module, the heating control module is used for controlling the heater heating when deep sunken fault detection module detects there is deep sunken trouble.
Further, fluorescent powder is also arranged in the shell.
The technical scheme of the invention has the beneficial effects that:
according to the technical scheme, whether the walking foot of the underwater robot sinks or not is detected through the sinking detection sensor, the control system controls the buoyancy adjusting mechanism in real time according to the sinking condition of the walking foot to adjust the buoyancy of the robot, so that the buoyancy is increased on the soft silt ground, sinking blockage is avoided, and the robot can be prevented from sinking deeply into the water bottom to influence task completion efficiency.
Because the robot is large in size, the walking feet have a certain span distance, the ground conditions corresponding to all the walking feet are different sometimes, the integral lifting buoyancy can cause partial walking feet to be separated from the ground, and the partial walking feet still sink into sludge, so that the task completion is influenced. According to the technical scheme, each walking foot is provided with the telescopic oil bag, the control system adjusts the volume of each telescopic oil bag according to the sinking depth of each walking foot, so that the buoyancy can be distributed to different walking feet, and the buoyancy of part of the walking feet can be improved in a more targeted manner so as to adapt to complex ground conditions.
Deep sunken fault detection module can detect the effect after buoyancy adjusts, if adjust many times still can't prevent equipment subsides or can't freely remove, then explain the robot and be blocked, make the heater heating through heating control module this moment, make the compression gasbag inflation after the reaction for the robot increases more buoyancy in the twinkling of an eye, pops out the surface of water, conveniently rescues, can fill inside the gasbag through the phosphor powder after the compression gasbag inflation, through fluorescence effect, conveniently seeks the position.
Drawings
FIG. 1 is a logic block diagram of a control system in a first embodiment of an underwater robot walking mechanism of the present application;
fig. 2 is a logic block diagram of a control system in a second embodiment of the underwater robot walking mechanism of the present application.
Detailed Description
The technical scheme of the application is further explained in detail through the following specific implementation modes:
example one
The underwater robot walking mechanism in the embodiment comprises a chassis, and a four-foot walking mechanism, a buoyancy adjusting mechanism and an electric control system are arranged on the chassis.
The multi-foot walking mechanism is used for driving the chassis to move and comprises a plurality of walking feet, in the implementation, the four walking feet are adopted, the walking feet are designed by referring to the prior art and comprise a plurality of foot joints, the foot joints are hinged, meanwhile, the hinged shaft is provided with a steering engine to control the foot joints to rotate, and walking is realized through the rotating fit of the foot joints of the plurality of walking feet.
The walking foot is provided with a sinking detection sensor which is in signal connection with the control system and is used for sending detection data to the control system; in this embodiment, the sag detection sensor includes a distance sensor for detecting a distance from the top of the walking foot to the ground and an acceleration sensor. The acceleration sensor is used for detecting the longitudinal acceleration of each walking foot.
The buoyancy adjusting mechanism is used for providing buoyancy for the chassis and adjusting the buoyancy according to the control system, and specifically, the buoyancy adjusting mechanism comprises an oil tank, an oil pump and a telescopic oil bag, the oil pump is in signal connection with the control system, and the buoyancy control module changes the volume of the oil bag by controlling the oil pump to change the oil amount in the telescopic oil bag, so that the buoyancy adjusting mechanism can adjust the buoyancy. The telescopic oil bag comprises a main oil bag and a foot oil bag, each walking foot is provided with one foot oil bag, and the foot oil bag and the main oil bag are communicated with an oil pump and an oil tank through electromagnetic valves and oil ways.
As shown in fig. 1, the electric control system comprises a control mainboard, a controller, a sensor, a communication module and the like are arranged on the control mainboard, the controller is electrically connected with each steering engine, a motor, the sensor, the communication module and the like through circuits, the control system runs on the controller, the control system comprises a walking control module, a task operation control module, a subsidence detection module and a buoyancy control module, the walking control module is used for controlling the robot to walk, the task operation control module is used for executing task operation according to task requirements, the subsidence detection module is used for receiving data of the subsidence detection sensor, and judging whether the walking foot sinks according to the data of the sinking detection sensor, specifically, the sinking detection module judges the depth of the walking foot penetrating into the ground through the data of the distance sensor and judges whether the walking foot sinks according to the depth, and the sinking detection module also judges whether the walking foot sinks according to the data of the acceleration sensor.
The buoyancy control module is used for controlling the buoyancy adjusting mechanism to increase the buoyancy after the sinking detection module detects that the walking foot sinks. The sinking detection module is further used for detecting the sinking degree of each walking foot, the buoyancy control module is used for generating the adjustment quantity of the foot oil bags corresponding to each walking foot according to the sinking degree of each walking foot, the buoyancy control module adjusts the buoyancy of each foot oil bag according to the adjustment quantity, and the buoyancy control module controls the opening and closing states of the electromagnetic valves corresponding to each foot oil bag to independently control the buoyancy of each foot oil bag.
In this embodiment technical scheme, whether the condition that caves in through the detection sensor that caves in detects underwater robot walking foot, control system is according to the buoyancy size that the robot was adjusted to the sufficient real time control buoyancy adjustment mechanism of walking sunken condition, and then increases buoyancy on comparatively soft silt ground, avoids sinking to block for the robot can avoid underwater robot to sink deeply into the bottom and influence task completion efficiency.
Because the robot is large in size, the walking feet have a certain span distance, the ground conditions corresponding to all the walking feet are different sometimes, the integral lifting buoyancy can cause partial walking feet to be separated from the ground, and the partial walking feet still sink into sludge, so that the task completion is influenced. According to the technical scheme, each walking foot is provided with the telescopic oil bag, the control system adjusts the volume of each telescopic oil bag according to the sinking depth of each walking foot, so that the buoyancy can be distributed to different walking feet, and the buoyancy of part of the walking feet can be improved in a more targeted manner so as to adapt to complex ground conditions.
Example two
As shown in fig. 2, the difference between the first embodiment and the second embodiment is that, in the first embodiment, the self-rescue structure further includes a compressed air bag and a gas generating device, the gas generating device includes a casing, a heater, phosphor, sodium azide, potassium nitrate and silica are disposed in the casing, the compressed air bag is communicated with the casing, in the first embodiment, a reaction chamber and a discharge pipe communicated with the reaction chamber are disposed in the casing, the heater, the sodium azide, the potassium nitrate and the silica are disposed in the reaction chamber, the phosphor is disposed in the discharge pipe, sealing films are disposed at two ends of the discharge pipe to isolate the phosphor, the discharge pipe is communicated with the compressed air bag, the heater is in signal connection with a control system, the control system further includes a deep sinking fault detecting module, the deep sinking fault detecting module is configured to determine whether the walking foot stops sinking and can move freely after being adjusted by the buoyancy control module according, if the deep fault exists, the deep fault does not exist, otherwise, the deep fault exists, and the control system further comprises a heating control module, wherein the heating control module is used for controlling the heater to heat when the deep fault detection module detects that the deep fault exists.
In this embodiment, deep sunken fault detection module can detect the effect after buoyancy adjusts, if adjust many times still can't prevent equipment subside or can't freely remove, then explain the robot and blocked, make the heater heating through heating control module this moment, make the expansion of compression gasbag after the reaction for the robot increases more buoyancy in the twinkling of an eye, pop out the surface of water, conveniently rescue, can fill inside the gasbag through the phosphor powder after the expansion of compression gasbag, through fluorescence, conveniently seek the position.
The above are merely examples of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art can know all the common technical knowledge in the technical field before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become barriers to the implementation of the present invention by those skilled in the art in light of the teaching provided in the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (7)
1. The underwater robot walking mechanism is characterized in that: the four-foot walking device comprises a chassis, wherein a four-foot walking mechanism and a buoyancy adjusting mechanism are arranged on the chassis;
the multi-foot walking mechanism is used for driving the chassis to move and comprises a plurality of walking feet, sinking detection sensors are arranged on the walking feet and are in signal connection with the control system, and the sinking detection sensors are used for sending detection data to the control system;
the buoyancy adjusting mechanism is used for providing buoyancy for the chassis and adjusting the buoyancy according to a signal of the control system;
the control system comprises a sinking detection module and a floating force control module, wherein the sinking detection module is used for receiving data of a sinking detection sensor and judging whether the walking foot sinks or not according to the data of the sinking detection sensor; and the buoyancy control module is used for controlling the buoyancy adjusting mechanism to increase the buoyancy after the subsidence detection module detects that the walking foot is sunken.
2. The underwater robot running mechanism according to claim 1, characterized in that: the sinking detection sensor comprises a distance sensor, the distance sensor is used for detecting the distance from the top of the walking foot to the ground, and the sinking detection module judges the depth of the walking foot penetrating into the ground through the data of the distance sensor and judges whether the walking foot sinks or not according to the depth.
3. The underwater robot running mechanism according to claim 2, characterized in that: the sinking detection sensor also comprises an acceleration sensor, the acceleration sensor is used for detecting the longitudinal acceleration of each walking foot, and the sinking detection module judges whether the walking feet sink or not according to the data of the acceleration sensor.
4. The underwater robot running mechanism according to claim 3, characterized in that: the buoyancy adjusting mechanism comprises an oil tank, an oil pump and a telescopic oil bag, the oil pump is in signal connection with the control system, and the buoyancy control module changes the volume of the telescopic oil bag by controlling the oil pump to change the oil quantity in the oil bag, so that the buoyancy size is adjusted.
5. The underwater robot running mechanism of claim 4, wherein: the telescopic oil bag comprises a main oil bag and foot oil bags, each walking foot is provided with one foot oil bag, the foot oil bags and the main oil bags are communicated with an oil pump and an oil tank through electromagnetic valves and oil paths, the sinking detection module is further used for detecting the sinking degree of each walking foot, the buoyancy control module is used for generating the regulating quantity of the foot oil bags corresponding to each walking foot according to the sinking degree of each walking foot, the buoyancy control module regulates the buoyancy of each foot oil bag according to the regulating quantity, and the buoyancy control module controls the independent buoyancy of each foot oil bag by controlling the opening and closing states of the electromagnetic valves corresponding to each foot oil bag.
6. The underwater robot running mechanism of claim 5, wherein: still including saving oneself the structure, the structure of saving oneself includes compression gasbag and gas generating device, gas generating device includes the casing, be equipped with heater, sodium azide, potassium nitrate and silica in the casing, compression gasbag and casing intercommunication, heater and control system signal connection, control system still includes deep-seated fault detection module, deep-seated fault detection module is used for judging whether the walking is sufficient to stop sinking after buoyancy control module adjusts according to the testing result of sinking detection module, if then do not have deep-seated fault, if otherwise judge that there is deep-seated fault, control system still includes the heating control module, the heating control module is used for controlling the heater heating when deep-seated fault detection module detects there is deep-seated fault.
7. The underwater robot running mechanism of claim 6, wherein: fluorescent powder is also arranged in the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011620865.XA CN112623165B (en) | 2020-12-31 | 2020-12-31 | Underwater robot walking mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011620865.XA CN112623165B (en) | 2020-12-31 | 2020-12-31 | Underwater robot walking mechanism |
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| CN112623165A true CN112623165A (en) | 2021-04-09 |
| CN112623165B CN112623165B (en) | 2022-06-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115009485A (en) * | 2022-05-30 | 2022-09-06 | 大连海事大学 | Underwater buoyancy adjusting system for glass pressure-resistant cover |
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| CN111745648A (en) * | 2020-06-12 | 2020-10-09 | 泰华智业(天津)科技有限责任公司 | Underwater robot control method and device |
| CN111791969A (en) * | 2020-08-14 | 2020-10-20 | 上海海洋大学 | Four rotor topography survey dollies |
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| CN206234662U (en) * | 2016-12-13 | 2017-06-09 | 东莞市肯恩实业有限公司 | A kind of outdoor anti-sinking lighting device |
| CN108674521A (en) * | 2018-07-11 | 2018-10-19 | 哈尔滨工程大学 | A kind of underwater anti-silting sunken traveling method of multi-foot robot |
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| CN115009485A (en) * | 2022-05-30 | 2022-09-06 | 大连海事大学 | Underwater buoyancy adjusting system for glass pressure-resistant cover |
| CN115009485B (en) * | 2022-05-30 | 2024-01-12 | 大连海事大学 | Underwater buoyancy adjusting system of glass pressure cover |
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| CN112623165B (en) | 2022-06-14 |
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