CN112722220B - Detection system of underwater robot and operation method thereof - Google Patents
Detection system of underwater robot and operation method thereof Download PDFInfo
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- CN112722220B CN112722220B CN202110083249.3A CN202110083249A CN112722220B CN 112722220 B CN112722220 B CN 112722220B CN 202110083249 A CN202110083249 A CN 202110083249A CN 112722220 B CN112722220 B CN 112722220B
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- 238000001514 detection method Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000000712 assembly Effects 0.000 claims abstract description 29
- 238000000429 assembly Methods 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 18
- 230000001681 protective effect Effects 0.000 claims description 14
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 8
- 239000000243 solution Substances 0.000 description 7
- 230000009189 diving Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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
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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
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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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Acoustics & Sound (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a detection system of an underwater robot and an operation method thereof, wherein the detection system comprises a cabin, a supporting seat and a power propulsion device; the power propulsion device comprises a first propulsion mechanism and a second propulsion mechanism, the first propulsion mechanism comprises two first propulsion assemblies, the first propulsion assemblies comprise right-angle first rotating heads, first rotary driving units arranged on the supporting seat, a first propeller, a first boosting driving unit, the second propulsion mechanisms comprise two pairs of second propulsion assemblies, each pair of second propulsion assemblies comprises two second propulsion assemblies, the two pairs of second propulsion assemblies are symmetrically arranged on two sides of the cabin, and a main controller, an attitude sensor, a depth sounder and a detection execution assembly are arranged in the cabin. The detection system of the underwater robot is flexible in control and easy to realize multi-degree-of-freedom control, and the multi-degree-of-freedom operation and control of the underwater robot can be realized through an operation method.
Description
Technical Field
The invention relates to the technical field of diving, in particular to a detection system of an underwater robot and an operation method thereof.
Background
The underwater robot is an extreme operation robot working underwater, the underwater environment is severe and dangerous, and the diving depth of the robot is limited, so the underwater robot becomes an important tool for underwater detection, and the underwater robot is used for cruising and sampling. The existing underwater robot is mostly submerged and floated by changing buoyancy of the body in water, namely water injection of a water pressure chamber and water drainage during ascending and descending. And usually only one or two power propellers are provided, the response time is slow, the forward and backward movement and the up-and-down movement can be only completed, the adjustment of the body posture is extremely inflexible, the omnibearing movement can not be realized, and the movement flexibility of the underwater robot is greatly limited.
Disclosure of Invention
The present invention is directed to a detection system for an underwater robot and a method for operating the same, which solves one or more of the problems of the prior art and provides at least one of the advantages of the present invention.
The technical scheme adopted for solving the technical problems is as follows:
first, the present invention provides a detection system of an underwater robot having X, Y and Z axes orthogonal to each other, the detection system of the underwater robot comprising: the support seat is arranged on an XY axial plane, and the engine room is arranged at the center of the support seat; the power propulsion device comprises a first propulsion mechanism and a second propulsion mechanism, the first propulsion mechanism comprises two first propulsion components, the two first propulsion components are symmetrically arranged on two sides of the supporting seat by taking the ZY axial plane as a symmetrical plane, the first propelling assembly comprises a right-angle first rotating head, a first rotating driving unit arranged on the supporting seat, a first propeller and a first boosting driving unit, the first rotating head is provided with a first rotating end and a first free end which are perpendicular to each other, the axis of the first rotating end extends along the X axis, the first rotary driving unit is used for driving the first rotary head to rotate around the axis of the first rotary end, the first propeller and the first boosting driving unit are arranged on the first free end, the first propeller and the first free end are coaxially arranged, and the first boosting driving unit is used for driving the first propeller to rotate; the second propulsion mechanism comprises two pairs of second propulsion assemblies, each pair of second propulsion assemblies comprises two second propulsion assemblies, the two pairs of second propulsion assemblies are symmetrically arranged on two sides of the cabin by taking a ZY axial plane as a symmetrical plane, the two pairs of second propulsion assemblies are arranged between the two first propulsion assemblies, each pair of second propulsion assemblies are symmetrically arranged on the other two sides of the supporting seat by taking an XZ axial plane as a symmetrical plane, each second propulsion assembly comprises a right-angle second rotating head, a second rotary driving unit, a second propeller and a second boosting driving unit, the second rotating head is provided with a second rotating end and a second free end which are perpendicular to each other, the axis of the second rotating end extends along the Y axis, the second rotary driving unit is used for driving the second rotating head to rotate around the axis of the second rotating end, and the second propeller, The second boosting driving unit is arranged on the second free end, the second propeller and the second free end are coaxially arranged, the second boosting driving unit is used for driving the second propeller to rotate, a main controller, an attitude sensor, a depth finder and a detection execution component are arranged in the engine room, the main controller is respectively and electrically connected with the attitude sensor, the depth finder, the detection execution assembly, the first boosting driving unit, the second boosting driving unit, the first rotary driving unit and the second rotary driving unit, the attitude sensor is used for detecting the attitude of the cabin, the depth sounder is used for detecting the submergence depth of the cabin, the main controller is configured to receive signals of the attitude sensor and the depth finder and control the start and stop of the first boosting driving unit, the second boosting driving unit, the first rotation driving unit and the second rotation driving unit.
Above-mentioned scheme, but the degree of depth of real-time detection cabin dive through the depth finder, and detect in real time through attitude sensor the gesture of cabin, according to surveying the different detection demands of execution component, the position and the direction of surveying when having here, main controller is through opening of the first boosting drive unit of control, second boosting drive unit, first rotation drive unit, second rotation drive unit stop the gesture of adjusting the cabin, dive degree of depth, and the speed of removal etc. according to the difference of the boosting direction of first screw and second screw, can control cabin gesture and motion track in space in a flexible way, specifically: when the first rotating head rotates to a horizontally placed posture, the first propeller can push the cabin to rotate around a vertical Z axis; when the boosting directions of the first propeller and the second propeller are both downward, rapid floating can be realized; when the first propeller and the second propellerWhen the boosting directions of the two propellers are upward, the two propellers can dive quickly; the rotation angles of the first rotating head and the second rotating head can be controlled to push the engine room to rotate around the X axis and the Y axis, so that the underwater robot has six-degree-of-freedom motion in space, namely the underwater robot moves towards the X axis, the Y axis, the Z axis, the X axis, the Y axis and the Z axis in three-dimensional space, and can also adjust the pitch angle theta and the roll angle theta
The yaw angle ψ is adjusted so that the angular deviation can be corrected, so that the detection execution unit can stably perform detection.
And the driving direction of the first boosting driving unit and the second boosting driving unit is not required to be changed.
As a further improvement of the above technical solution, the nacelle is a transparent nacelle structure, and the detection execution assembly includes a detection camera.
Transparent cabin body structure can be under the shooting that does not influence the detection camera, plays the effect of protection to the detection camera, avoids contact with water between the detection camera, reduces the fault rate, also reduces to the performance requirement of detecting the camera simultaneously to reduce the cost of manufacturing.
As a further improvement of the above technical solution, the first free end and the second free end are coaxially provided with a protective cover cylinder, and the first propeller and the second propeller are respectively arranged in the corresponding protective cover cylinders.
The protective cover cylinder mainly plays a role in protecting the propeller, the first free end and the second free end are arranged downwards in the carrying process, and the protective cover cylinder contacts with the bottom surface to play a role in supporting.
As a further improvement of the technical scheme, a plurality of water through holes are formed in the peripheral wall of the protective cover barrel and are formed in the inner sides of the first propeller and the second propeller.
The water holes mainly provide a circulating passage for water flowing in the protective cover cylinder, so that the pressure is prevented from being suppressed to reduce the boosting force of the propeller.
As a further improvement of the above technical solution, the first boost driving unit and the second boost driving unit are both waterproof rotating electric machines.
As a further improvement of the above technical solution, a plurality of rotary interfaces are arranged on the outer side of the support base, the plurality of rotary interfaces are rotatably connected with the first rotary end and the second rotary end in a one-to-one correspondence manner, and the first rotary driving unit and the second rotary driving unit are respectively installed in the corresponding rotary interfaces.
As a further improvement of the above technical solution, the first rotation driving unit and the second rotation driving unit are both waterproof rotating electric machines.
As a further improvement of the technical scheme, the supporting seat comprises two supporting frames, the two supporting frames are symmetrically arranged on two sides of the engine room by taking a ZY axial plane as a symmetrical plane, a semi-arc-shaped connecting sleeve is arranged on one side, opposite to the two supporting frames, the two connecting sleeves are oppositely sleeved on the outer side of the engine room, and two ends of each connecting sleeve are connected through a fixing bolt.
The supporting seat and the engine room are convenient to assemble, and when the supporting seat and the engine room are installed, only two ends of the two connecting sleeves need to be connected together through the fixing bolts.
As a further improvement of the above technical solution, a gyroscope sensor is disposed in the nacelle, the gyroscope sensor is electrically connected to the main controller, and the gyroscope sensor is configured to detect a horizontal tilt angle of the nacelle.
In order to improve the stability of the movement of the cabin, the horizontal inclination angle of the cabin is detected through a gyroscope sensor, so that the maximum boosting force is kept during the process of submerging or surfacing of the cabin.
In addition, the invention also provides an operation method of the detection system of the underwater robot, and the detection system of the underwater robot comprises the following steps:
s1: the submergence depth of the cabin is set through the depth finder, signals are transmitted to the main controller, the main controller controls the first rotary driving unit to drive the first rotary head to rotate to a posture that the first free end faces upwards, controls the second rotary driving unit to drive the second rotary head to rotate to a posture that the second free end faces upwards, then the first boosting driving unit drives the first propeller to rotate, and the second boosting driving unit drives the second propeller to rotate;
s2: detecting the attitude of the cabin in real time through an attitude sensor, transmitting a signal to a main controller, and when the attitude of the cabin changes, controlling the corresponding first rotary driving unit or second rotary driving unit to start by the main controller so that the first rotary head or the second rotary head rotates by a set angle and the cabin is kept at the set attitude and dives to a set position;
s3: according to the requirement of the detection execution assembly, the main controller controls the corresponding first rotary driving unit or second rotary driving unit to start, so that the first rotary head or the second rotary head rotates by a set angle to push the cabin to a detection position;
s4, after the detection execution assembly detects, the main controller controls the first rotary driving unit to drive the first rotary head to rotate to a posture that the first free end faces downwards, controls the second rotary driving unit to drive the second rotary head to rotate to a posture that the second free end faces downwards, and pushes the cabin to float out of the water surface.
The invention has the beneficial effects that: the detection system of the underwater robot is flexible in control and easy to realize multi-degree-of-freedom control, and the multi-degree-of-freedom operation and control of the underwater robot can be realized through an operation method.
Drawings
The invention is further described with reference to the accompanying drawings and examples;
fig. 1 is a schematic structural diagram of an embodiment of a detection system of an underwater robot provided by the invention;
FIG. 2 is a partial enlarged view A of FIG. 1;
FIG. 3 is a top view of one embodiment of a detection system for an underwater robot provided by the present invention;
fig. 4 is a control block diagram of an embodiment of the detection system of the underwater robot provided by the invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element 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.
In the description of the present invention, if words such as "a plurality" are described, the meaning is one or more, the meaning of a plurality is two or more, more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 4, the detection system of the underwater robot of the present invention makes the following embodiments:
the detection system of the underwater robot of the embodiment has an X axis, a Y axis and a Z axis which are mutually orthogonal, and specifically, the detection system of the underwater robot comprises a cabin 100, a supporting seat 200 and a power propulsion device.
The supporting seat 200 comprises two supporting frames 220, the two supporting frames 220 are symmetrically arranged on two sides of the cabin 100 by taking a ZY axial plane as a symmetrical plane, a semi-arc-shaped connecting sleeve 230 is arranged on one side opposite to the two supporting frames 220, the two connecting sleeves 230 are oppositely sleeved on the outer side of the cabin 100, and two ends of the connecting sleeves 230 are connected through fixing bolts 240, so that the cabin 100 is arranged at the center of the supporting seat 200, the supporting seat 200 and the cabin 100 are convenient to assemble, and when the supporting seat is arranged, only two ends of the connecting sleeves 230 are connected together through the fixing bolts 240.
The power propulsion device comprises a first propulsion mechanism and a second propulsion mechanism. Wherein the first propelling mechanism comprises two first propelling components 300, the two first propelling components 300 are symmetrically arranged at two sides of the supporting seat 200 by taking a ZY axis as a symmetry plane, the first propelling component 300 comprises a right-angle first rotating head 310, a first rotating driving unit, a first propeller 320 and a first boosting driving unit, the first rotating head 310 is provided with a first rotating end 311 and a first free end 312 which are perpendicular to each other, the axis of the first rotating end 311 extends along the X axis, the first rotating driving unit is used for driving the first rotating head 310 to rotate around the axis of the first rotating end 311, the first propeller 320 and the first boosting driving unit are arranged on the first free end 312, the first propeller 320 and the first free end 312 are coaxially arranged, the first boosting driving unit is used for driving the first propeller 320 to rotate, the first rotation driving unit and the first boosting driving unit in this embodiment are both waterproof rotating electric machines.
The second propelling mechanism includes two pairs of second propelling assemblies 400, each pair of second propelling assemblies 400 includes two second propelling assemblies 400, the two pairs of second propelling assemblies 400 are symmetrically disposed on two sides of the nacelle 100 with the ZY axis plane as the symmetry plane, the two pairs of second propelling assemblies 400 are disposed between the two first propelling assemblies 300, each pair of second propelling assemblies 400 are symmetrically disposed on the other two sides of the supporting base 200 with the XZ axis plane as the symmetry plane, specifically: second propulsion assembly 400 includes the second rotating head 410 of right angle form, installs second rotary drive unit, second screw 420, the second boosting drive unit on supporting seat 200, second rotating head 410 is provided with mutually perpendicular's second rotatory end 411 and second free end 412, the axis of second rotatory end 411 extends along the Y axle and sets up, second rotary drive unit is used for the drive second rotating head 410 winds the axis of second rotatory end 411 is rotatory, second screw 420, second boosting drive unit set up on second free end 412, just second screw 420 and the coaxial setting of second free end 412, second boosting drive unit is used for the drive the rotation of second screw 420. In this embodiment, the second boosting drive unit and the second rotation drive unit are both waterproof rotating electric machines.
In order to protect the propellers, the first free end 312 and the second free end 412 are coaxially provided with a protective cover cylinder 900, the first propeller 320 and the second propeller 420 are respectively arranged in the corresponding protective cover cylinders 900, and in the carrying process, the first free end 312 and the second free end 412 are both arranged downwards and are contacted with the bottom surface through the protective cover cylinders 900 to play a supporting role.
Simultaneously, be provided with a plurality of water holes 910 of crossing on the periphery wall of a protective cover section of thick bamboo 900, cross the water hole 910 and set up in the inboard of first screw 320, second screw 420, cross the passageway that water hole 910 mainly provided the circulation for the water that flows in the protective cover section of thick bamboo 900, avoid suppressing the pressure and reduce the boosting power of screw.
Further, a plurality of rotary joints 210 are arranged on the outer side of the support base 200, the plurality of rotary joints 210 are rotatably connected with the first rotary end 311 and the second rotary end 411 in a one-to-one correspondence manner, and the first rotary driving unit and the second rotary driving unit are respectively installed in the corresponding rotary joints 210.
The main controller 500 is electrically connected with the attitude sensor 600, the depth finder 700, the detection execution assembly 800, the first boosting driving unit, the second boosting driving unit, the first rotation driving unit and the second rotation driving unit, the attitude sensor 600 is used for detecting the attitude of the nacelle 100, the depth finder 700 is used for detecting the submergence depth of the nacelle 100, the main controller 500 is configured to receive the signals of the attitude sensor 600 and the depth finder 700 and control the start and stop of the first boosting driving unit, the second boosting driving unit, the first rotation driving unit and the second rotation driving unit, the detection execution assembly 800 in the embodiment includes a detection camera, and the nacelle 100 is a transparent cabin structure, which can control the shooting of the detection camera without affecting the shooting of the detection camera, the detection camera is protected, contact between the detection cameras and water is avoided, the failure rate is reduced, meanwhile, the performance requirement of the detection camera is reduced, and therefore the manufacturing cost is reduced.
In addition, the present embodiment further provides an operation method of a detection system of an underwater robot, including the following steps:
s1: the depth of submergence of the cabin 100 is set through the depth finder 700, and a signal is transmitted to the main controller 500, the main controller 500 controls the first rotary driving unit to drive the first rotary head 310 to rotate to the upward posture of the first free end 312, controls the second rotary driving unit to drive the second rotary head 410 to rotate to the upward posture of the second free end 412, then the first boosting driving unit drives the first propeller 320 to rotate, and the second boosting driving unit drives the second propeller 420 to rotate;
s2: detecting the attitude of the nacelle 100 in real time through the attitude sensor 600, and transmitting a signal to the main controller 500, when the attitude of the nacelle 100 changes, the main controller 500 controlling the corresponding first rotary driving unit or second rotary driving unit to start, so that the first rotary head 310 or the second rotary head 410 rotates by a set angle, and the nacelle 100 is kept at the set attitude and dives to a set position;
s3: according to the requirement of the detection performing assembly 800, the main controller 500 controls the corresponding first rotary driving unit or second rotary driving unit to start, so that the first rotary head 310 or second rotary head 410 rotates by a set angle to push the nacelle 100 to the detection position;
s4, after the detection of the detection executing assembly 800 is completed, the main controller 500 controls the first rotary driving unit to drive the first rotary head 310 to rotate to the posture that the first free end 312 faces downward, and controls the second rotary driving unit to drive the second rotary head 410 to rotate to the posture that the second free end 412 faces downward, so as to push the nacelle 100 to float out of the water.
The present embodiment can detect the submergence depth of the cabin 100 in real time through the depth finder 700 and detect the submergence depth in real time through the attitude sensor 600The attitude of the nacelle 100 is measured, and the position and the direction of the time detection are provided according to different detection requirements of the detection execution assembly 800, the main controller 500 adjusts the attitude, the submergence depth, the moving speed and the like of the nacelle 100 by controlling the start and stop of the first boosting driving unit, the second boosting driving unit, the first rotation driving unit and the second rotation driving unit, and the attitude and the moving track of the nacelle 100 on the space can be flexibly controlled according to different boosting directions of the first propeller 320 and the second propeller 420, specifically: when the first rotary head 310 is rotated to a horizontally placed posture, the first propeller 320 may push the nacelle 100 to rotate around the vertical Z-axis; when the boosting directions of the first propeller 320 and the second propeller 420 are both downward, rapid upward floating can be realized; when the boosting directions of the first propeller 320 and the second propeller 420 are both upward, quick diving can be realized; the rotation angles of the first rotary head 310 and the second rotary head 410 can also be controlled to push the nacelle 100 to rotate around the X axis and the Y axis, so that the underwater robot has six degrees of freedom in space, i.e. the underwater robot moves towards the X axis, the Y axis, the Z axis, the pitch angle theta and the roll angle theta in three-dimensional space
The yaw angle ψ is adjusted so that the angular deviation can be corrected, so that the detection performing unit 800 can stably perform detection.
And the driving direction of the first boosting driving unit and the second boosting driving unit is not required to be changed.
In some embodiments, the detection performing assembly 800 may be other detection means, such as an infrared detection device, and the like.
In order to improve the stability of the movement of the nacelle 100, a gyro sensor 110 is disposed on the nacelle 100, the gyro sensor 110 is electrically connected to the main controller 500, the gyro sensor 110 is used for detecting the horizontal tilt angle of the nacelle 100, and the horizontal tilt angle of the nacelle 100 is detected by the gyro sensor 110, so that the maximum boosting force is maintained during the submergence or the surfacing of the nacelle 100.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.
Claims (8)
1. A detection system of an underwater robot, characterized in that: the detection system of the underwater robot has X-axis, Y-axis and Z-axis which are orthogonal to each other, and comprises:
a nacelle (100);
the supporting seat (200) is arranged on an XY axial plane, and the engine room (100) is arranged at the center of the supporting seat (200);
the power propulsion device comprises a first propulsion mechanism and a second propulsion mechanism, wherein the first propulsion mechanism comprises two first propulsion assemblies (300), the two first propulsion assemblies (300) are symmetrically arranged on two sides of a supporting seat (200) by taking a ZY axial plane as a symmetrical plane, each first propulsion assembly (300) comprises a right-angle first rotating head (310), a first rotary driving unit, a first propeller (320) and a first boosting driving unit, the first rotary driving unit is arranged on the supporting seat (200), the first rotating head (310) is provided with a first rotating end (311) and a first free end (312), the first rotating end (311) is perpendicular to the first rotating end (310), the axis of the first rotating end (311) extends along the X axis and is arranged, the first rotary driving unit is used for driving the first rotating head (310) to rotate around the axis of the first rotating end (311), the first propeller (320) and the first boosting driving unit are arranged on the first free end (312), the first propeller (320) and the first free end (312) are coaxially arranged, and the first boosting driving unit is used for driving the first propeller (320) to rotate;
the second propelling mechanism comprises two pairs of second propelling assemblies (400), each pair of second propelling assemblies (400) comprises two second propelling assemblies (400), the two pairs of second propelling assemblies (400) are symmetrically arranged on two sides of the cabin (100) by taking a ZY axis as a symmetrical surface, the two pairs of second propelling assemblies (400) are arranged between the two first propelling assemblies (300), each pair of second propelling assemblies (400) are symmetrically arranged on the other two sides of the supporting seat (200) by taking an XZ axis as a symmetrical surface, each second propelling assembly (400) comprises a right-angle-shaped second rotating head (410), a second rotating driving unit arranged on the supporting seat (200), a second propeller (420) and a second boosting driving unit, the second rotating head (410) is provided with a second rotating end (411) and a second free end (412) which are perpendicular to each other, and the axis of the second rotating end (411) extends along the Y axis, the second rotary driving unit is used for driving the second rotary head (410) to rotate around the axis of the second rotary end (411), the second propeller (420) and the second boosting driving unit are arranged on the second free end (412), the second propeller (420) and the second free end (412) are coaxially arranged, and the second boosting driving unit is used for driving the second propeller (420) to rotate;
a main controller (500), an attitude sensor (600), a depth sounder (700) and a detection execution assembly (800) are arranged in the nacelle (100), the main controller (500) is respectively electrically connected with the attitude sensor (600), the depth sounder (700), the detection execution assembly (800), a first boosting drive unit, a second boosting drive unit, a first rotary drive unit and a second rotary drive unit, the attitude sensor (600) is used for detecting the attitude of the nacelle (100), the depth sounder (700) is used for detecting the submergence depth of the nacelle (100), and the main controller (500) is configured to receive signals of the attitude sensor (600) and the depth sounder (700) and control the starting and stopping of the first boosting drive unit, the second boosting drive unit, the first rotary drive unit and the second rotary drive unit;
protective cover cylinders (900) are coaxially arranged on the first free end (312) and the second free end (412), and the first propeller (320) and the second propeller (420) are respectively arranged in the corresponding protective cover cylinders (900);
the outer peripheral wall of the protective cover cylinder (900) is provided with a plurality of water through holes (910), and the water through holes (910) are arranged on the inner sides of the first propeller (320) and the second propeller (420).
2. The detection system of an underwater robot as claimed in claim 1, wherein:
the cabin (100) is a transparent cabin structure, and the detection execution assembly (800) comprises a detection camera.
3. The detection system of an underwater robot as claimed in claim 1, wherein:
and the first boosting driving unit and the second boosting driving unit are both waterproof rotating motors.
4. The detection system of an underwater robot as claimed in claim 1, wherein:
the outer side of the supporting seat (200) is provided with a plurality of rotary interfaces (210), the rotary interfaces (210) are in one-to-one correspondence and rotatable connection with the first rotary end (311) and the second rotary end (411), and the first rotary driving unit and the second rotary driving unit are respectively installed in the corresponding rotary interfaces (210).
5. The detection system of an underwater robot as claimed in claim 4, wherein:
the first rotary driving unit and the second rotary driving unit are both waterproof rotary motors.
6. The detection system of an underwater robot as claimed in claim 1, wherein:
the supporting seat (200) comprises two supporting frames (220), the two supporting frames (220) are symmetrically arranged on two sides of the cabin (100) by taking a ZY axial plane as a symmetrical plane, a semi-arc-shaped connecting sleeve (230) is arranged on one side opposite to the two supporting frames (220), the connecting sleeve (230) is oppositely sleeved on the outer side of the cabin (100), and the two ends of the connecting sleeve (230) are connected through fixing bolts (240).
7. The detection system of an underwater robot as claimed in claim 1, wherein:
a gyroscope sensor (110) is arranged on the nacelle (100), the gyroscope sensor (110) is electrically connected with a main controller (500), and the gyroscope sensor (110) is used for detecting the horizontal inclination angle of the nacelle (100).
8. An operation method of a detection system of an underwater robot is characterized in that: a detection system employing the underwater robot as claimed in any one of claims 1 to 7, comprising the steps of:
s1: the submergence depth of the cabin (100) is set through a depth finder (700), signals are transmitted to a main controller (500), the main controller (500) controls a first rotary driving unit to drive a first rotary head (310) to rotate to the upward posture of a first free end (312), controls a second rotary driving unit to drive a second rotary head (410) to rotate to the upward posture of a second free end (412), then the first boosting driving unit drives a first propeller (320) to rotate, and the second boosting driving unit drives a second propeller (420) to rotate;
s2: detecting the attitude of the cabin (100) in real time through an attitude sensor (600), transmitting a signal to a main controller (500), and when the attitude of the cabin (100) changes, controlling the corresponding first rotary driving unit or second rotary driving unit to start by the main controller (500) so that the first rotary head (310) or the second rotary head (410) rotates by a set angle, and enabling the cabin (100) to be submerged to a set position in the set attitude;
s3: according to the requirement of the detection execution assembly (800), the main controller (500) controls the corresponding first rotary driving unit or second rotary driving unit to start, so that the first rotary head (310) or the second rotary head (410) rotates for a set angle to push the cabin (100) to a detection position;
s4, after the detection execution assembly (800) detects, the main controller (500) controls the first rotary driving unit to drive the first rotary head (310) to rotate to the posture that the first free end (312) faces downwards, and controls the second rotary driving unit to drive the second rotary head (410) to rotate to the posture that the second free end (412) faces downwards, and the cabin (100) is pushed to float out of the water surface.
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| CN202110083249.3A CN112722220B (en) | 2021-01-21 | 2021-01-21 | Detection system of underwater robot and operation method thereof |
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| JPH08230792A (en) * | 1995-02-23 | 1996-09-10 | Sumitomo Electric Ind Ltd | Diving craft |
| US7540255B2 (en) * | 2005-08-23 | 2009-06-02 | Hawkes Calvert T | Propulsion and steering mechanism for an underwater vehicle |
| KR101185515B1 (en) * | 2010-03-05 | 2012-09-24 | 삼성중공업 주식회사 | Vessel |
| RU2431583C1 (en) * | 2010-06-08 | 2011-10-20 | Владимир Евгеньевич Иванов | Jet propulsor with controlled thrust vector |
| CN103287557A (en) * | 2013-05-31 | 2013-09-11 | 深圳市优必选科技有限公司 | Novel underwater robot movement control device |
| CN104176220B (en) * | 2014-08-25 | 2016-08-17 | 哈尔滨工业大学 | A kind of propeller disturbed flow type controllable ring-shaped eddy generator |
| CN106428479B (en) * | 2015-08-06 | 2018-05-25 | 欧舶智能科技（上海）有限公司 | A kind of unmanned remote controlled underwater robot and its control method |
| RU2678913C1 (en) * | 2018-03-06 | 2019-02-04 | Владимир Евгеньевич Иванов | Multi-nozzle jet engine |
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