CN113184147A - Multi-target collaborative search underwater robot with function of preventing sludge from being trapped - Google Patents
Multi-target collaborative search underwater robot with function of preventing sludge from being trapped Download PDFInfo
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- CN113184147A CN113184147A CN202110481777.4A CN202110481777A CN113184147A CN 113184147 A CN113184147 A CN 113184147A CN 202110481777 A CN202110481777 A CN 202110481777A CN 113184147 A CN113184147 A CN 113184147A
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- 239000010802 sludge Substances 0.000 title claims abstract description 33
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 30
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 14
- 239000007789 gas Substances 0.000 claims description 34
- 210000001503 joint Anatomy 0.000 claims description 11
- 238000012216 screening Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000004575 stone Substances 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 241001233242 Lontra Species 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 3
- 229910001873 dinitrogen Inorganic materials 0.000 abstract description 2
- 210000003437 trachea Anatomy 0.000 abstract 1
- 230000006870 function Effects 0.000 description 18
- 230000000903 blocking effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005273 aeration Methods 0.000 description 3
- 230000006855 networking Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- 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
-
- 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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- 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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Acoustics & Sound (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of underwater robots, in particular to a multi-target collaborative search underwater robot with a function of preventing sludge from being trapped. The control panel control air pump starts, and the drive of compressed liquefied nitrogen in the nitrogen gas jar through the air pump enters into the subassembly of getting rid of poverty on left side through the first side trachea in the gas-supply pipe. This underwater robot accessible is got rid of poverty subassembly and the inside controlling means in function storehouse and sensor, realize detecting robot whether get into in silt, aerify through aerifing the storehouse to and aerify under the storehouse exhaust multiple effect such as, make this robot break away from silt as far as.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a multi-target collaborative search underwater robot with a function of preventing sludge from being trapped.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The operator issues commands in process-oriented abstract symbols or language through the man-machine interaction system, receives information processed by the computer, monitors the running and action processes of the submersible and eliminates faults. Intelligent underwater robot systems began to be developed. The robot can automatically plan action, avoid obstacles and autonomously complete designated tasks according to the recognition and analysis environment only by issuing the total tasks by the operator.
In the prior art, the underwater walking robot has complicated underwater conditions, so that part of the underwater robots can not walk out automatically after walking legs enter sludge, manual rescue or other devices are needed to obtain the underwater walking robot, and the problem of difficult task execution is caused.
Disclosure of Invention
In order to solve the problems, the invention provides the multi-target collaborative search underwater robot with the function of preventing the underwater silt from being trapped, and the robot can finish the capabilities of getting rid of the underwater silt and collaboratively searching for multiple targets.
In order to achieve the purpose, the invention adopts the technical scheme that:
a multi-target collaborative search underwater robot with a function of preventing sludge from being trapped comprises a robot main body, an even number of walking feet, a escaping assembly, a gas transmission pipe and a function bin, wherein the walking feet are respectively connected to the left side and the right side of the robot main body, and the number of the walking feet on the left side and the right side of the robot main body is consistent; the escaping assembly comprises a connecting plate, a connecting column, a mounting plate and an inflating bin, wherein the connecting plate is fixedly mounted at the tail end of the walking foot, the upper end of the connecting column is connected with the bottom surface of the connecting plate, the top surface of the mounting plate is fixedly connected with the lower end of the connecting column, the inflating bin is fixedly connected with the bottom surface of the mounting plate, a penetrating inflating butt joint hole is formed in the middle of the mounting plate and is communicated with an inflating cavity in the inflating bin, and the lower end of the inflating cavity is open;
the gas transmission pipe comprises a first side gas pipe and a second side gas pipe, a nitrogen tank, a gas pump, a three-way switching valve, a control panel and an inclination angle sensor are arranged inside the function bin, wherein the nitrogen tank is connected with the input end of the gas pump through a gas pipe, the output end of the gas pump is connected with the first end of the three-way switching valve, the second end of the three-way switching valve is connected with an inflation butt joint hole of the left escape assembly of the robot body through the first side gas pipe, the third end of the three-way switching valve is connected with an inflation butt joint hole of the right escape assembly of the robot body through the second side gas pipe, the inclination angle sensor is used for acquiring the roll direction and the angle of the robot body, the control panel is in signal connection with the inclination angle sensor, the three-way switching valve and the gas pump respectively, and the control panel is used for acquiring the roll direction and the angle data of the robot body detected by the inclination angle sensor, and after the side inclination angle data of the robot main body exceeds a threshold value, the three-way switching valve is switched to change the direction and control the air pump to inflate the inflatable bin of the lower escaping assembly through the air delivery pipe.
Preferably, the lower end of the inflation cavity is provided with a second net plate for preventing stones from being clamped into the opening part at the lower end of the inflation cabin.
Preferably, the diameter of the inflatable bin is gradually reduced from the upper part to the lower end so as to reduce the resistance of the walking foot to escaping from the sludge.
Preferably, the first side surface of the inflating cabin is arranged in an inward inclining mode from top to bottom, an auxiliary pipe is installed on the first side surface of the inflating cabin, the first end of the auxiliary pipe is connected to the first side surface of the inflating cabin, and the second end of the auxiliary pipe extends to the position close to the lower end of the inflating cabin.
Preferably, the second end of the auxiliary tube is provided with a first mesh plate for preventing stones from being caught in the second end opening of the auxiliary tube.
Preferably, the first side of the inflating bin is provided with an auxiliary shield, the inner wall of the auxiliary shield and the first side of the inflating bin enclose a shield inner cavity, the auxiliary pipe is positioned in the shield inner cavity, and the lower end of the shield inner cavity is opened.
Preferably, the lower end edge of the auxiliary shield is located at a position not higher than the second end of the auxiliary tube.
Preferably, an exhaust valve hole is formed in the mounting plate, an air cylinder is mounted on the bottom surface of the connecting plate, a blocking head is mounted at the extending end of the air cylinder and faces the exhaust valve hole, the air cylinder can drive the blocking head to move so as to switch the blocking head to block the exhaust valve hole, and the control board is in signal connection with the air cylinder.
Preferably, the gas transmission pipe is hung at the bottom of the robot main body and the inner side of the walking foot through a hook.
Preferably, the robot main body further includes therein
The receiving module is used for receiving acoustic signals in water;
the distance calculation module is used for calculating the relative distance between the current equipment and the external equipment;
the first screening module is used for screening out external equipment with reduced and/or unchanged relative distance values according to the relative distances at a plurality of moments, and taking the external equipment as a node to be selected;
the second screening module is used for determining gateway nodes from the nodes to be selected, wherein the node to be selected with the smallest relative distance value at the current moment is used as the gateway node;
and the communication module is used for establishing network connection with the gateway node through blue-green laser.
The beneficial effects of the invention are as follows:
1. the underwater robot can form underwater communication through the built-in modules, measure and calculate the distance between the underwater robot and external equipment, and the second screening module is matched with the communication module, so that self networking is realized when the underwater robots operate together, and the functions of collaborative searching and the like can be realized.
2. This underwater robot accessible is got rid of poverty subassembly and the inside controlling means in function storehouse and sensor, realize detecting robot whether get into in silt, aerify through aerifing the storehouse to and aerify under the storehouse exhaust multiple effect such as, make this robot break away from silt as far as.
Drawings
Fig. 1 is a schematic view of a conventional state of a multi-target collaborative search underwater robot having a function of preventing sinking into sludge according to the present invention.
Fig. 2 is a partially enlarged view of a portion a in fig. 1.
Fig. 3 is a schematic diagram of a multi-target collaborative search underwater robot for a sludge trapping state with a sludge trapping prevention function according to the present invention.
Fig. 4 is a schematic diagram of the multi-target cooperative searching underwater robot trapped in a sludge state, which has the sludge trapping prevention function, according to the present invention.
Fig. 5 is a schematic diagram of an auxiliary shield in the multi-target collaborative search underwater robot having the function of preventing the sinking of sludge according to the present invention.
FIG. 6 is a schematic diagram of the connection between a control device and an inflation assembly in the multi-target collaborative search underwater robot with the function of preventing the underwater robot from sinking into the sludge.
The reference numerals include:
10-a robot main body, 20-walking feet, 30-a trapped component, 31-a connecting plate, 32-a connecting column, 33-a mounting plate, 331-an inflation butt joint hole, 332-an exhaust valve hole, 34-an inflation bin, 341-an inflation cavity, 35-an air cylinder, 351-a blocking head, 36-an auxiliary pipe, 361-a first screen plate, 37-an auxiliary shield, 371-a shield inner cavity, 38-a second screen plate, 40-an air pipe, 41-a first side air pipe, 42-a second side air pipe, 50-a functional bin, 51-a nitrogen tank, 52-an air pump, 53-a three-way switching valve, 54-a control plate and 55-an inclination angle sensor. B-sludge area, C-gas making area.
Detailed Description
In order to make the purpose, technical solution and advantages of the present technical solution more clear, the present technical solution is further described in detail below with reference to specific embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present teachings.
As shown in fig. 1 to 6, the present embodiment provides a multi-target collaborative search underwater robot with a function of preventing sludge from being trapped, which includes a robot main body 10, walking feet 20, a escaping component 30, an air pipe 40 and a functional cabin 50, wherein the number of the walking feet 20 is even, the walking feet 20 are respectively connected to the left and right sides of the robot main body 10, and the number of the walking feet 20 on the left and right sides of the robot main body 10 is the same; the escaping component 30 comprises a connecting plate 31, a connecting column 32, a mounting plate 33 and an inflating chamber 34, wherein the connecting plate 31 is fixedly mounted at the tail end of the walking foot 20, the upper end of the connecting column 32 is connected with the bottom surface of the connecting plate 31, the top surface of the mounting plate 33 is fixedly connected with the lower end of the connecting column 32, the inflating chamber 34 is fixedly connected with the bottom surface of the mounting plate 33, a penetrating inflating butt joint hole 331 is formed in the middle of the mounting plate 33, the inflating butt joint hole 331 is communicated with an inflating cavity 341 inside the inflating chamber 34, and the lower end of the inflating cavity 341 is open; the gas transmission pipe 40 comprises a first side gas pipe 41 and a second side gas pipe 42, a nitrogen tank 51, an air pump 52, a three-way switching valve 53, a control board 54 and an inclination angle sensor 55 are arranged inside the functional bin 50, wherein the nitrogen tank 51 is connected with the input end of the air pump 52 through the gas pipe, the output end of the air pump 52 is connected with the first end of the three-way switching valve 53, the second end of the three-way switching valve 53 is connected with the inflation butt joint hole 331 of the left-side escaping component 30 of the robot main body 10 through the first side gas pipe 41, the third end of the three-way switching valve 53 is connected with the inflation butt joint hole 331 of the right-side escaping component 30 of the robot main body 10 through the second side gas pipe 42, the inclination angle sensor 55 is used for acquiring the roll direction and angle of the robot main body 10, the control board 54 is respectively in signal connection with the inclination angle sensor 55, the three-way switching valve 53 and the air pump 52, the control board 54 is used for acquiring the roll direction and angle data of the inclination angle detected by the inclination angle sensor 55 of the robot main body 10, and when the data of the inclination angle of the robot main body 10 exceeds the threshold value, the three-way switching valve 53 is switched to control the air pump 52 to inflate the inflating cabin 34 of the lower escaping assembly 30 through the air pipe 40.
Preferably, the lower end of the inflating chamber 341 is provided with a second net plate 38 for preventing stones from being caught in the lower open end of the inflating chamber 34.
The diameter of the inflatable chamber 34 is gradually reduced from the upper portion to the lower portion to reduce the resistance of the walking foot 20 to escape from the sludge.
The first side of the inflating cabin 34 is arranged by inclining from top to bottom inwards, the auxiliary pipe 36 is installed on the first side of the inflating cabin 34, the first end of the auxiliary pipe 36 is connected to the first side of the inflating cabin 34, the second end of the auxiliary pipe 36 extends to the position close to the lower end of the inflating cabin 34, and the auxiliary pipe 36 has auxiliary exhaust to form the effect of the inflating area C.
The second end of the auxiliary tube 36 is provided with a first net 361 for preventing stones from being caught in the second end opening of the auxiliary tube 36.
The auxiliary shield 37 is installed to the first side in the storehouse of aerifing 34, and the auxiliary shield 37 inner wall encloses into the guard cavity 371 with the first side in the storehouse of aerifing 34, and auxiliary tube 36 is located guard cavity 371, and the guard cavity 371 lower extreme is opened. The auxiliary shield 37 functions to protect the auxiliary tube 36, while the shield cavity 371 is inflatable to further increase buoyancy.
The lower end edge of the auxiliary shield 37 is not lower than the second end of the auxiliary tube 36, so as to protect the auxiliary tube 36 as much as possible.
The mounting plate 33 is provided with an exhaust valve hole 332, the bottom surface of the connecting plate 31 is provided with an air cylinder 35, the extending end of the air cylinder 35 is provided with a blocking head 351, the blocking head 351 faces the exhaust valve hole 332, the air cylinder 35 can drive the blocking head 351 to move so as to switch the state that the blocking head 351 blocks the exhaust valve hole 332, and the control plate 54 is in signal connection with the air cylinder 35 so as to realize the exhaust or sealing switching of the inflation cabin 34.
The air pipe 40 is hung at the bottom of the robot main body 10 and the inner side of the walking foot 20 through a hook.
The robot main body 10 also comprises a receiving module for receiving acoustic signals in water; the distance calculation module is used for calculating the relative distance between the current equipment and the external equipment; the first screening module is used for screening out external equipment with reduced and/or unchanged relative distance values according to the relative distances at a plurality of moments, and taking the external equipment as a node to be selected; and the second screening module is used for determining the gateway node from the nodes to be selected, wherein the node to be selected with the minimum relative distance value at the current moment is used as the gateway node. And the communication module is used for establishing network connection with the gateway node through blue-green laser to realize multi-target collaborative search. In other embodiments, other underwater networking modes can be adopted to realize the multi-target cooperative function.
Specifically, as shown in fig. 1, in a normal state, the underwater robot is relatively balanced left and right, as shown in fig. 2, in this state, the cylinder 35 drives the blocking head 351 to withdraw from the exhaust valve hole 332, and at this time, the inflation cavity 341 in the inflation chamber 34 is filled with water, which has the function of preventing the inflation chamber 34 from inflating, and keeping the second mesh plate 38 at the lower end of the escaping assembly 30 in contact with the bottom surface, thereby improving the adhesion capability. At the moment, the underwater robot can normally walk and is not different from the underwater robot in a general state.
As shown in fig. 3, after the left side of the underwater robot sinks into the sludge area B, the robot main body 10 shifts to the left side as a whole, at this time, after the tilt angle sensor 55 detects that the robot main body 10 shifts beyond a predetermined angle, for example, after the robot main body 10 tilts beyond 15 ° or 20 °, the control board 54 controls the three-way valve to communicate the first end with the second end, that is, the air pump 52 communicates with the first side air pipe 41 through a pipeline, as shown in fig. 4, at this time, the control board 54 controls the extending end of the air cylinder 35 to extend out, so that the blocking head 351 blocks the exhaust valve hole 332, the control board 54 controls the air pump 52 to start, the compressed liquefied nitrogen in the nitrogen tank 51 is driven by the air pump 52, passes through the first side air pipe 41 in the air pipe 40, and enters the left-side escaping assembly 30, specifically, the nitrogen passes through the first side air pipe 41 and enters the inflation cavity 341 through the inflation docking hole 331. The water in the aeration chamber 341 is continuously discharged from the lower end while the water in the auxiliary tube 36 is discharged, and finally, the auxiliary tube 36 and the aeration tank 34 are filled with nitrogen gas. After the gas filling chamber 34 is continuously filled with nitrogen, the nitrogen is discharged from the second end of the auxiliary pipe 36 and the lower end of the gas filling chamber 34, as shown in fig. 3, a gas making region C is formed in the sludge region B, and the left walking foot 20 is jacked up by the nitrogen in a reverse thrust manner.
As shown in fig. 5, in the present embodiment, the inner cavity 371 of the auxiliary shield 37 can be inflated by the air exhausted from the auxiliary tube 36, so that the escaping assembly 30 and the walking foot 20 on the left side obtain greater buoyancy. Finally, the left walking foot 20 gets out of the trouble. In other embodiments, the side of the aeration tank 34 may be provided with an auxiliary tube 36 and an auxiliary shield 37 on other sides.
In addition, the underwater robot can detect whether the underwater robot enters the sludge area B or is on the inclined ground by the visual recognition device arranged on the robot main body 10 in combination with the inclination angle sensor 55, so as to judge whether the action of removing the sludge is real-time.
The underwater robot can form underwater communication through the built-in modules, measure and calculate the distance between the underwater robot and external equipment, and the second screening module is matched with the communication module, so that self networking is realized when the underwater robots operate together, and the functions of collaborative searching and the like can be realized.
The underwater robot can detect whether the robot is trapped in the sludge through the control device and the sensor inside the escaping assembly 30 and the functional bin 50, and the robot can get rid of the sludge as far as possible through the inflation of the inflation bin 34, the exhaust of the inflation bin 34 and other effects.
The underwater robot has the other advantages that the escaping assembly 30, the air conveying pipe 40 and the functional cabin 50 are externally added or externally hung and can be randomly installed on a common underwater robot, any underwater robot can be freely modified, and the underwater robot has excellent adaptability.
The foregoing is only a preferred embodiment of the present invention, and many variations in the specific embodiments and applications of the invention may be made by those skilled in the art without departing from the spirit of the invention, which falls within the scope of the claims of this patent.
Claims (10)
1. The utility model provides a multi-target collaborative search underwater robot with prevent sinking silt function which characterized in that: the robot comprises a robot main body, walking feet, a escaping assembly, a gas pipe and a functional cabin, wherein the walking feet are even in number and are respectively connected to the left side and the right side of the robot main body, and the walking feet on the left side and the right side of the robot main body are consistent in number; the escaping assembly comprises a connecting plate, a connecting column, a mounting plate and an inflating bin, wherein the connecting plate is fixedly mounted at the tail end of the walking foot, the upper end of the connecting column is connected with the bottom surface of the connecting plate, the top surface of the mounting plate is fixedly connected with the lower end of the connecting column, the inflating bin is fixedly connected with the bottom surface of the mounting plate, a penetrating inflating butt joint hole is formed in the middle of the mounting plate and is communicated with an inflating cavity in the inflating bin, and the lower end of the inflating cavity is open;
the gas transmission pipe comprises a first side gas pipe and a second side gas pipe, a nitrogen tank, a gas pump, a three-way switching valve, a control panel and an inclination angle sensor are arranged inside the function bin, wherein the nitrogen tank is connected with the input end of the gas pump through a gas pipe, the output end of the gas pump is connected with the first end of the three-way switching valve, the second end of the three-way switching valve is connected with an inflation butt joint hole of the left escape assembly of the robot body through the first side gas pipe, the third end of the three-way switching valve is connected with an inflation butt joint hole of the right escape assembly of the robot body through the second side gas pipe, the inclination angle sensor is used for acquiring the roll direction and the angle of the robot body, the control panel is in signal connection with the inclination angle sensor, the three-way switching valve and the gas pump respectively, and the control panel is used for acquiring the roll direction and the angle data of the robot body detected by the inclination angle sensor, and after the side inclination angle data of the robot main body exceeds a threshold value, the three-way switching valve is switched to change the direction and control the air pump to inflate the inflatable bin of the lower escaping assembly through the air delivery pipe.
2. The multi-target collaborative search underwater robot with the function of preventing the sinking of the sludge as claimed in claim 1, wherein: the lower extreme in aerifing the chamber is installed and is used for avoiding the stone card to go into the second otter board that aerifys the open department of storehouse lower extreme.
3. The multi-target collaborative search underwater robot with the function of preventing the sinking of the sludge as claimed in claim 1, wherein: the diameter of the inflating bin is gradually reduced from the upper part to the lower end so as to reduce the resistance of the walking foot to escape from the sludge.
4. The multi-target collaborative search underwater robot with the function of preventing the sinking of the sludge as claimed in claim 1, wherein: the first side in storehouse of aerifing is by last to the setting of leanin down, and the auxiliary tube is installed to the first side in storehouse of aerifing, and the first end of this auxiliary tube is connected in the first side in storehouse of aerifing, and the second end of auxiliary tube extends to and closes on to aerify the storehouse lower extreme position.
5. The multi-target collaborative search underwater robot with the function of preventing the sludge from being trapped according to claim 4, characterized in that: and the second end of the auxiliary pipe is provided with a first net plate for preventing stones from being clamped into the second end opening of the auxiliary pipe.
6. The multi-target collaborative search underwater robot with the function of preventing the sludge from being trapped according to claim 4, characterized in that: supplementary guard shield is installed to the first side in storehouse of aerifing, supplementary guard shield inner wall encloses into the guard shield inner chamber with aerifing the first side in storehouse, supplementary pipe is located the guard shield inner chamber, and guard shield inner chamber lower extreme opens.
7. The multi-target collaborative search underwater robot with the function of preventing the sludge from being trapped according to claim 6, wherein: the position of the lower end edge of the auxiliary shield is not higher than that of the second end of the auxiliary pipe.
8. The multi-target collaborative search underwater robot with the function of preventing the sludge from being trapped according to any one of claims 1 to 7, characterized in that: the exhaust valve hole has been seted up on the mounting panel, the cylinder is installed to the connecting plate bottom surface, and the end that stretches out of this cylinder installs the shutoff head, and the shutoff head is towards the exhaust valve hole, the cylinder can drive the shutoff head and remove to switch the state of shutoff head shutoff exhaust valve hole, the control panel with cylinder signal connection.
9. The multi-target collaborative search underwater robot with the function of preventing the sludge from being trapped according to any one of claims 1 to 7, characterized in that: the gas transmission pipe is hung at the bottom of the robot main body and the inner side of the walking foot through a hook.
10. The multi-target collaborative search underwater robot with the function of preventing the sinking of the sludge as claimed in claim 1, wherein: the robot main body also comprises
The receiving module is used for receiving acoustic signals in water;
the distance calculation module is used for calculating the relative distance between the current equipment and the external equipment;
the first screening module is used for screening out external equipment with reduced and/or unchanged relative distance values according to the relative distances at a plurality of moments, and taking the external equipment as a node to be selected;
the second screening module is used for determining gateway nodes from the nodes to be selected, wherein the node to be selected with the smallest relative distance value at the current moment is used as the gateway node;
and the communication module is used for establishing network connection with the gateway node through blue-green laser.
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| CN202110481777.4A CN113184147B (en) | 2021-04-30 | 2021-04-30 | Multi-target collaborative search underwater robot with function of preventing sludge from being trapped |
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| CN115830340A (en) * | 2022-11-16 | 2023-03-21 | 白城师范学院 | Point cloud target identification method and device and storage medium |
Citations (12)
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Cited By (2)
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| CN115830340B (en) * | 2022-11-16 | 2023-11-21 | 白城师范学院 | Point cloud target identification method and device and storage medium |
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