CN113910849A - Multi-purpose moving robot and obstacle crossing method thereof - Google Patents
Multi-purpose moving robot and obstacle crossing method thereof Download PDFInfo
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- CN113910849A CN113910849A CN202111070215.7A CN202111070215A CN113910849A CN 113910849 A CN113910849 A CN 113910849A CN 202111070215 A CN202111070215 A CN 202111070215A CN 113910849 A CN113910849 A CN 113910849A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0023—Arrangement of propulsion or steering means on amphibious vehicles comprising screw-type ground-engaging means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
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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
- 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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- 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
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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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H2001/122—Single or multiple threaded helicoidal screws, or the like, comprising foils extending over a substantial angle; Archimedean screws
- B63H2001/125—Single or multiple threaded helicoidal screws, or the like, comprising foils extending over a substantial angle; Archimedean screws with helicoidal foils projecting from outside surfaces of floating rotatable bodies, e.g. rotatable, cylindrical bodies
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Abstract
The invention relates to the technical field of robots, and discloses a multi-purpose moving robot and an obstacle crossing method thereof, wherein the robot comprises a robot body, at least one pair of propulsion systems arranged on two sides of the robot body, at least one pair of buoyancy regulating systems arranged on two sides of the robot body, an acousto-optic detection system arranged on the robot body and a control system arranged in the robot body; the propulsion system can realize the functions of benthic crawling of the robot and underwater propulsion on the water surface; the buoyancy adjusting system is used for adjusting and changing the buoyancy of the buoyancy adjusting system according to different task states; the acousto-optic detection system comprises an underwater laser detection device and a sonar detection device; the acousto-optic detection system transmits the detection image back to the control system, and the control system identifies and judges the detection image and then instructs the propulsion system and the buoyancy regulating system to act. The invention has the beneficial effects that the propulsion system based on the Archimedes spiral propulsion principle is adopted, and the invention has excellent maneuvering capability on beaches, water surfaces, underwater and water bottoms.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-purpose moving robot and an obstacle crossing method thereof.
Background
The realization of the sea crossing multi-medium motion is always a research hotspot in the field of robots, but at present, the robots mostly only have amphibious motion capability and are difficult to realize the multi-dwelling motion capability of crossing over beaches, water surfaces, underwater and water bottoms, for example, the invention patent CN103358839B discloses an amphibious spherical exploration robot, which can realize the amphibious motion of water surfaces and beaches through the rotary motion of a spherical shell, but cannot enter the water bottoms and the underwater, and the spherical configuration has poor stability and obstacle crossing capability, so that the robot is difficult to be practically applied. On the other hand, the existing robot capable of realizing the motion across multiple media usually needs multiple sets of propulsion devices to adapt to different media environments, for example, the invention patent application CN112744036A discloses an amphibious robot which adopts three propulsion devices, namely tires, tracks and propellers, to realize the motion between underwater and land; for example, the invention patent application CN110434865A discloses an amphibious detection robot, which uses crawler propulsion on land and jet propulsion under water, and these robots all use 2 sets or more of propulsion devices, on one hand, the structure is complex, the weight of the robot is greatly increased, the passing capacity of complex terrains is reduced, on the other hand, the control difficulty is improved, and the robot needs to be switched back and forth under different media, and is easy to malfunction.
Further, as early as in ancient Hirschmannide, mathematicians developed Archimedes' spiral and applied it to spiral water pumps. In 1868, the inventor in the united states, Jacob Morath, proposed a design concept for a screw propulsion vehicle that is suitable for running on bad terrain such as snowy ground and muddy ground using the principle of rolling friction. During the second war, the soviet union developed and put into practical use various screw propulsion vehicles in the severe environment of siberia snowfield and marsh, such as the SHN-1 type and Zil series. At present, the spiral propelling device is widely applied to complicated terrains such as mud and marsh, grassland, pipelines and the like, for example, the invention patent application CN108848697A discloses a spiral propelling grass pressing machine, which adopts 2 spiral propelling devices to realize the movement in the grassland; for example, patent application CN109737266A discloses a screw propulsion device of a pipeline inspection robot, which can realize the movement in the pipeline sludge environment. However, the screw propulsion device provides propulsion force by the threads sunk into the medium, and if the screw propulsion device encounters obstacles such as steep slopes, steps and deep pits which can cause the threads to be suspended, the screw propulsion device cannot propel the medium, and compared with a crawler belt or a wheel type device, the obstacle crossing is greatly reduced.
Therefore, there is a need for a multi-purpose mobile robot solution that can cross over the beach, water surface, underwater, and water bottom and has good passing ability in various environments to solve the technical bottleneck encountered at present.
Disclosure of Invention
Aiming at the problem that a multi-purpose moving robot which can cross over the beach, the water surface, the water bottom and has good passing ability in various environments is lacked in the prior art, the invention provides the multi-purpose moving robot and an obstacle crossing method thereof.
In order to achieve the purpose, the invention provides the following technical scheme:
a multi-purpose motion robot comprises a robot body, at least one pair of propulsion systems arranged on two sides of the robot body, at least one pair of buoyancy regulating systems arranged on two sides of the robot body, an acousto-optic detection system arranged on the robot body and a control system arranged in the robot body; the propulsion system can realize the functions of benthic crawling of the robot and underwater propulsion on the water surface; the buoyancy adjusting system is used for adjusting and changing the buoyancy of the robot according to different task states so as to realize the switching of the robot in different task states of the water surface, the underwater and the water bottom; the acousto-optic detection system comprises an underwater laser detection device and a sonar detection device, wherein the underwater laser detection device is used for high-definition detection and identification of a target object and a terrain in a short distance, and the sonar detection device is used for detection of the target object and the terrain in a long-distance and muddy water environment; the acousto-optic detection system transmits the detection image back to the control system, and the control system identifies and judges the detection image and then instructs the propulsion system and the buoyancy regulating system to act.
Furthermore, the acousto-optic detection system, the control system and the connection mode of the acousto-optic detection system, the control system, the machine body and the control system are the prior art.
Further, the buoyancy adjusting system is arranged on two sides of the machine body and comprises a water tank, a buoyancy adjusting pump arranged at one end of the water tank and a check valve group arranged between the water tank and the buoyancy adjusting pump, wherein the buoyancy adjusting pump is located in a sealed cabin at one end of the water tank, a water pipe extends out of two sides of the buoyancy adjusting pump, one water pipe enters the water from the sealed cabin, and the other water pipe enters the water tank from the sealed cabin. The check valve group comprises an inlet check valve and an outlet check valve which are both arranged on the wall between the water tank and the buoyancy regulating pump sealed tank.
When the buoyancy system needs positive buoyancy, the buoyancy regulating pump is started to pump out seawater in the water tank, and in order to achieve pressure balance, air in the sealed tank enters the water tank from the inlet one-way valve; when the buoyancy regulating system needs negative buoyancy, the buoyancy regulating pump is turned on to fill water into the water tank, the seawater ballast is increased, and in order to achieve pressure balance, air in the water tank enters the sealed tank from the outlet one-way valve to perform underwater operation.
Furthermore, the buoyancy regulating pump is a micro water pump which can pump water in forward and reverse directions by using the existing products such as a peristaltic pump, a vacuum pump and the like.
Further, propulsion system is screw propeller, screw propeller includes screw propulsion wheel and central axle, screw shell is taken to the outside of screw propulsion wheel, the central axle is the shaft that runs through screw propulsion wheel, the fuselage both sides are provided with 4 supporting seats, the both ends of central axle assemble respectively on 2 supporting seats, are provided with the motor cabin on the central axle, be provided with propulsion motor in the motor cabin, propulsion motor is used for driving screw propulsion wheel and carries out rotary motion around the central axle.
Furthermore, a motor gear is arranged on a motor shaft of the propulsion motor, an inner wall gear meshed with the motor gear is arranged on the inner wall of a shell of the spiral propulsion wheel, and the whole spiral propulsion wheel is driven to rotate around the central shaft through the rotation of the motor and the rotation of the motor gear and the inner wall gear, so that the operation of the robot is promoted.
Further, the fuselage passes through the link to be connected with screw propeller, and the both ends of link are provided with 2 supporting seats respectively.
Furthermore, end caps which are matched with the end parts of the spiral propelling wheels are arranged at two ends of the connecting frame, and the end caps are in a conical shape.
Further, a battery cabin is mounted on the central shaft and connected with the propulsion motor; the spiral propelling wheel is in an elliptic cylindrical shape.
Furthermore, the number of the battery cabins is an even number different from 0, and the battery cabins are symmetrically arranged on the central shaft by taking the motor cabin as a center.
Further, the motor cabin is a pressure-resistant motor sealed cabin, the battery cabin is a sealed cabin, and the water cabin is a pressure-resistant cabin for storing water.
The obstacle crossing method of the multi-dwelling moving robot is characterized in that the robot keeps an acousto-optic detection system open during the running process, scans and detects obstacles and terrains encountered in front in real time and transmits images of the obstacles and the terrains back to a control system; and the control system identifies and judges according to the received image characteristics and takes different obstacle crossing measures according to different obstacle types.
Further, the different obstacle types include oblique waves, steps and pits, and the taking of different obstacle crossing measures is specifically as follows:
when encountering the oblique wave, judging whether the gradient of the oblique wave is greater than the maximum climbing angle of the robot, and if the gradient of the oblique wave is less than the maximum climbing angle, directly driving the robot forwards; if the angle is larger than the maximum climbing angle, the robot rotates 90 degrees in situ according to the advancing direction, climbs a steep slope in a lateral translation mode, then rotates back to the original advancing direction in situ, and passes through oblique waves;
when the robot meets a step, the robot rotates 90 degrees in situ and passes through the step in a transverse translation mode;
when meeting the pit, the robot improves the self buoyancy of the robot through the buoyancy adjusting system, makes the robot leave the underwater environment, and moves forwards in water through the screw propeller to cross the pit.
Compared with the prior art, the invention provides a multi-purpose moving robot and an obstacle crossing method thereof, which have the following beneficial effects:
(1) the invention provides a scheme of a multi-purpose motion robot capable of crossing over a beach, a water surface, underwater and a water bottom, and solves the problem that a robot platform capable of crossing over multiple media is lacked in the prior art; and all service environments can be adapted by only adopting a set of spiral propelling mode, the structure is simple and reliable, and the defect that the existing multi-medium crossing robot needs to adopt a plurality of sets of propelling devices to adapt to different environments and needs to be frequently replaced is overcome.
(2) The invention provides a set of obstacle crossing method aiming at a spiral propelling device, a robot can adopt corresponding obstacle crossing methods aiming at different obstacle conditions, the obstacle crossing and passing capability under a complex environment can be improved, the robot has the technical advantages of flexibility, high efficiency and high speed, and the robot has wide application prospects in the aspects of beach environment monitoring, underwater salvage, underwater exploration, pipeline inspection, military penetration and the like. Spiral propulsion is adopted for a slope, and compared with a wheel type device, the wheel type device has stronger ground holding force; aiming at step-type obstacles, the spiral propelling device is difficult to cross, and at the moment, the robot adopts transverse translation, is equivalent to a wheel-type device and can easily cross steps; aiming at the deep pit obstacles which cannot be passed by both spiral propulsion and wheel propulsion, a buoyancy adjusting device is adopted for floating, and the obstacles are crossed by a method that the spiral propulsion device advances in water. The technical defect that a single spiral propelling device or a wheel propelling device is difficult to overcome is overcome, and the passing capacity of the robot in a complex environment is greatly improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the robot of the present invention;
FIG. 2 is a schematic illustration of the internal construction of the propulsion system of the present invention (with the cap removed to illustrate the mating relationship between the end cap and the auger wheel);
FIG. 3 is a schematic view of the buoyancy regulating system of the present invention;
FIG. 4 is a flow chart of an obstacle crossing method of the robot of the present invention;
FIG. 5 is a schematic view of a robot of the present invention spanning a slope;
FIG. 6 is a schematic view of a robot of the present invention spanning a step;
fig. 7 is a schematic diagram of the robot of the present invention spanning a pit terrain.
The reference numerals in the figures have the meaning: 1-a propulsion system; 11-a central axis; 12-a motor compartment; 13-motor gear; 14-inner wall gear; 15-a battery compartment; 2-a buoyancy regulating system; 21-a water chamber; 22-a buoyancy regulating pump; 23-a one-way valve group; 24-a water pipe; 25-watertight sockets; 31-an underwater laser detection device; 32-sonar detection means; 4-fuselage.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the robot of the present invention comprises a body 4, at least one pair of propulsion systems 1 disposed on two sides of the body, at least one pair of buoyancy regulating systems 2 disposed on two sides of the body, an acousto-optic detection system disposed on the body 4, and a control system disposed inside the body 4; the propulsion system 1 can realize the functions of benthic crawling of the robot and underwater propulsion on the water surface; the buoyancy adjusting system 2 is used for adjusting and changing the buoyancy of the robot according to different task states so as to realize the switching of the robot in different task states on the water surface, under the water and at the water bottom; the acousto-optic detection system comprises an underwater laser detection device 31 and a sonar detection device 32, wherein the underwater laser detection device 31 is used for high-definition detection and identification of a target object and a terrain in a short distance, and the sonar detection device 32 is used for detection of the target object and the terrain in a long-distance and muddy water environment; the acousto-optic detection system transmits the detection image back to the control system, and the control system identifies and judges the detection image and then instructs the propulsion system 1 and the buoyancy regulating system 2 to act.
As shown in fig. 3, in a specific embodiment of this embodiment, the buoyancy adjusting system 2 is disposed on two sides of the fuselage 4, and includes a water tank 21, a buoyancy adjusting pump 22 disposed at one end of the water tank 21, and a check valve set 23 disposed between the water tank 21 and the buoyancy adjusting pump 22, the buoyancy adjusting pump 22 is located in a sealed cabin at one end of the water tank 21, two water pipes 24 respectively extend from two sides of the buoyancy adjusting pump 22, one water pipe enters water from the sealed cabin, and the other water pipe enters the water tank 21 from the sealed cabin. The check valve group 23 comprises an inlet check valve and an outlet check valve, which are both mounted on the partition between the water tank 21 and the sealed tank.
When the buoyancy system needs positive buoyancy, the buoyancy regulating pump 22 is turned on to pump out the seawater in the water tank 21, and in order to achieve pressure balance, the air in the sealed tank enters the water tank 21 from the inlet one-way valve; when the buoyancy regulating system needs negative buoyancy, the buoyancy regulating pump 22 is opened to fill water into the water tank 21, the seawater ballast is increased, and in order to achieve pressure balance, air in the water tank 21 enters the sealed cabin from the outlet one-way valve to perform underwater operation.
In one embodiment of the present embodiment, the buoyancy regulating pump 22 is a micro water pump capable of pumping water in forward and reverse directions, such as a peristaltic pump, a vacuum pump, etc.
In a specific embodiment of this embodiment, a watertight socket 25 is further disposed at the same end of the water tank 21 as the buoyancy adjusting pump 22, and the watertight socket 25 is connected to a power supply in the body, and then connected to the buoyancy adjusting pump 22 and the check valve group 23 to supply power to the buoyancy adjusting pump 22 and the check valve group 23.
In a specific implementation manner of this embodiment, propulsion system 1 is the screw propeller, the screw propeller includes screw propulsion wheel and central axle 11, the outside of screw propulsion wheel is threaded shell, central axle 11 is the shaft that runs through the screw propulsion wheel, 4 both sides of fuselage are provided with 4 supporting seats, the both ends of central axle 11 assemble respectively on 2 supporting seats, be provided with motor compartment 12 on the central axle 11, be provided with propulsion motor in the motor compartment 12, propulsion motor is used for driving the screw propulsion wheel and carries out rotary motion around central axle 11.
In a specific embodiment of this embodiment, a motor shaft of the propulsion motor is provided with a motor gear 13, an inner wall gear 14 engaged with the motor gear 13 is provided on an inner wall of a housing of the helical propulsion wheel, and the helical propulsion wheel is driven to perform a rotary motion around the central shaft 11 by rotation of the propulsion motor and gear rotation of the motor gear 13 and the inner wall gear 14, so as to propel the robot of the present invention to operate.
As shown in fig. 1, in a specific embodiment of this embodiment, the body 4 is connected to the screw propeller through a connecting frame, and two ends of the connecting frame are respectively provided with 2 supporting seats.
In a specific implementation manner of this embodiment, the two ends of the connecting frame are further provided with end caps for matching with the end portions of the spiral propelling wheels, and the end caps are in a cone shape.
In a specific embodiment of the present embodiment, a battery compartment 15 is installed on the central shaft 11, and the battery compartment 15 is connected with the propulsion motor; the spiral propelling wheel is in an elliptic cylindrical shape.
In a specific embodiment of this embodiment, the number of the battery compartments 15 is an even number other than 0, and the battery compartments 15 are symmetrically disposed on the central shaft 11 with the motor compartment 12 as the center.
In a specific embodiment of this embodiment, the motor compartment 12 is a pressure-resistant motor sealed compartment, the battery compartment 15 is a sealed compartment, and the water compartment 21 is a pressure-resistant compartment for storing water.
As shown in fig. 4, in the obstacle crossing method of the robot, the robot keeps the acousto-optic detection system open during the running process, scans and detects obstacles and terrains encountered in front in real time, and transmits images of the obstacles and the terrains back to the control system; and the control system identifies and judges according to the received image characteristics and takes different obstacle crossing measures according to different obstacle types.
In a specific implementation manner of this embodiment, the different obstacle types include ramp, step and pit, and the different obstacle surmounting measures are specifically taken as follows:
as shown in fig. 5, when encountering the oblique wave, the climbing friction force is larger than that of the general wheel type device because the screw propeller provides advancing power through the whole thread shell sunk into the medium, and the climbing capability is stronger. However, when the robot encounters a steep slope with overlarge slope, the threaded shell can be suspended, so that the robot cannot be propelled. Therefore, when the robot meets a slope, whether the maximum climbing angle is larger than the maximum climbing angle is judged, and if the maximum climbing angle is smaller than the maximum climbing angle, the robot directly drives forwards. If the angle is larger than the maximum climbing angle, the robot rotates 90 degrees in situ according to the advancing direction, climbs the steep slope in a lateral translation mode, then rotates back to the original advancing direction in situ, and finally passes through the steep slope.
As shown in fig. 6, when a step is encountered, because the spiral propeller is configured as an elliptical cylinder close to the ground, for the obstacle like the step, if the spiral propeller is adopted, the passing capacity is poor; however, when the robot adopts a transverse translation movement mode, the robot is essentially equivalent to circular wheel type propulsion, and the wheel type device has excellent passing capacity for step-type obstacles. Therefore, when the detection system detects that the front is a step obstacle, the robot rotates 90 degrees on site and passes through the obstacle in a transverse translation mode.
As shown in fig. 7, when a pit is encountered, it is difficult for a pit-type obstacle to pass over, whether it is a screw propeller or a wheel type propeller; at the moment, the robot improves the buoyancy of the robot through the buoyancy adjusting device, so that the robot leaves the underwater environment and moves forwards in water through the spiral propelling device to cross the pit.
The robot of the invention adopts a screw driving mode to realize the functions of benthic crawling and underwater propulsion on the water surface, and the principle of the robot is similar to that of screw transmission. When the robot climbs in soft bottom environments such as tidal flats, seabed and the like, the robot is embedded into soft ground by means of dead weight, and propulsion is achieved through friction force of ground media and protruding thread surfaces. Meanwhile, the steering and lateral movement of the robot can be realized by utilizing the differential driving of the two spiral cylinders, and the robot is particularly suitable for being used on fluid and semi-fluid grounds such as tidal beaches, marshes and seabed. When the robot performs lateral movement, the robot is equivalent to wheel type propulsion, and the passing capacity of the robot for complex terrains can be improved. In the water and water surface environment of the robot, the screw driving devices are two sets of propellers, the movement of the robot on the water surface can be realized by utilizing the interaction of the screw thread protrusions and the water, and the robot has the capability of bank-sea-submarine integrated all-terrain driving really.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A multi-purpose motion robot is characterized in that: the device comprises a machine body, at least one pair of propulsion systems arranged on two sides of the machine body, at least one pair of buoyancy regulating systems arranged on two sides of the machine body, an acousto-optic detection system arranged on the machine body and a control system arranged in the machine body; the propulsion system can realize the functions of benthic crawling of the robot and underwater propulsion on the water surface; the buoyancy adjusting system is used for adjusting and changing the buoyancy of the robot according to different task states so as to realize the switching of the robot in different task states of the water surface, the underwater and the water bottom; the acousto-optic detection system comprises an underwater laser detection device and a sonar detection device, wherein the underwater laser detection device is used for high-definition detection and identification of a target object and a terrain in a short distance, and the sonar detection device is used for detection of the target object and the terrain in a long-distance and muddy water environment; the acousto-optic detection system transmits the detection image back to the control system, and the control system identifies and judges the detection image and then instructs the propulsion system and the buoyancy regulating system to act.
2. The multi-purpose sports robot of claim 1, wherein: the buoyancy regulating system is arranged on two sides of the machine body and comprises a water tank, a buoyancy regulating pump arranged at one end of the water tank and a one-way valve group arranged between the water tank and the buoyancy regulating pump, wherein the one-way valve group comprises an inlet one-way valve and an outlet one-way valve; when the buoyancy system needs positive buoyancy, the buoyancy regulating pump is started to pump out seawater in the water tank, and in order to achieve pressure balance, air in the sealed tank enters the water tank from the inlet one-way valve; when the buoyancy regulating system needs negative buoyancy, the buoyancy regulating pump is turned on to fill water into the water tank, the seawater ballast is increased, and in order to achieve pressure balance, air in the water tank enters the sealed tank from the outlet one-way valve to perform underwater operation.
3. The multi-purpose sports robot of claim 1, wherein: the propulsion system is a spiral propeller, the spiral propeller comprises a spiral propulsion wheel and a central shaft, a threaded shell is arranged outside the spiral propulsion wheel, the central shaft is a wheel shaft penetrating through the spiral propulsion wheel, 4 supporting seats are arranged on two sides of the machine body, two ends of the central shaft are respectively assembled on the 2 supporting seats, a motor cabin is arranged on the central shaft, a propulsion motor is arranged in the motor cabin, and the propulsion motor is used for driving the spiral propulsion wheel to perform rotary motion around the central shaft.
4. The multi-purpose sports robot of claim 3, wherein: the motor shaft of the propulsion motor is provided with a motor gear, the inner wall of the shell of the spiral propulsion wheel is provided with an inner wall gear meshed with the motor gear, and the whole spiral propulsion wheel is driven to rotate around the central shaft through the rotation of the motor and the rotation of the motor gear and the inner wall gear.
5. The multi-purpose sports robot of claim 3, wherein: the fuselage passes through the link to be connected with screw propeller, and the both ends of link are provided with 2 supporting seats respectively.
6. The multi-purpose sports robot of claim 3, wherein: a battery cabin is arranged on the central shaft and is connected with a propulsion motor; the spiral propelling wheel is in an elliptic cylindrical shape.
7. The multi-purpose sports robot of claim 6, wherein: the number of the battery cabins is not 0, and the battery cabins are symmetrically arranged on the central shaft by taking the motor cabin as a center.
8. The multi-purpose sports robot of claim 6, wherein: the motor cabin is a pressure-resistant motor sealed cabin, the battery cabin is a sealed cabin, and the water cabin is a pressure-resistant cabin for storing water.
9. An obstacle crossing method of a multi-purpose moving robot is characterized in that: the robot of any one of claims 1 to 8, wherein the acousto-optic detection system is kept on during the running process, obstacles and terrains encountered in front are scanned in real time, and images of the obstacles and the terrains are transmitted back to the control system; and the control system identifies and judges according to the received image characteristics and takes different obstacle crossing measures according to different obstacle types.
10. An obstacle crossing method for a multi-purpose mobile robot according to claim 9, wherein: the different obstacle types comprise oblique waves, steps and pits, and different obstacle surmounting measures are adopted as follows:
when encountering the oblique wave, judging whether the gradient of the oblique wave is greater than the maximum climbing angle of the robot, and if the gradient of the oblique wave is less than the maximum climbing angle, directly driving the robot forwards; if the angle is larger than the maximum climbing angle, the robot rotates 90 degrees in situ according to the advancing direction, climbs a steep slope in a lateral translation mode, then rotates back to the original advancing direction in situ, and passes through oblique waves;
when the robot meets a step, the robot rotates 90 degrees in situ and passes through the step in a transverse translation mode;
when meeting the pit, the robot improves the self buoyancy of the robot through the buoyancy adjusting system, makes the robot leave the underwater environment, and moves forwards in water through the screw propeller to cross the pit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111070215.7A CN113910849A (en) | 2021-09-13 | 2021-09-13 | Multi-purpose moving robot and obstacle crossing method thereof |
| GB2211035.7A GB2611404A (en) | 2021-09-13 | 2022-07-28 | Multi-use mobile robot and obstacle surmounting method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111070215.7A CN113910849A (en) | 2021-09-13 | 2021-09-13 | Multi-purpose moving robot and obstacle crossing method thereof |
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| CN202111070215.7A Pending CN113910849A (en) | 2021-09-13 | 2021-09-13 | Multi-purpose moving robot and obstacle crossing method thereof |
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| GB (1) | GB2611404A (en) |
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| GB1416666A (en) * | 1974-04-01 | 1975-12-03 | Pedrick A P | Sea bed crawling submarine craft |
| CN106956760B (en) * | 2017-03-29 | 2019-06-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The latent device of cable control of AUV is recycled under High-efficient Water |
| CN110510084B (en) * | 2018-11-29 | 2023-06-06 | 上海海洋大学 | Full sea depth composite detection vehicle and application method thereof |
| CN112623129B (en) * | 2020-12-31 | 2021-10-26 | 华北水利水电大学 | Hydrology remote control power ship based on GPS location |
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- 2022-07-28 GB GB2211035.7A patent/GB2611404A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1349512A (en) * | 1970-04-24 | 1974-04-03 | Allen T A | Amphibious propulsion member |
| CN201784806U (en) * | 2010-12-15 | 2011-04-06 | 中国船舶重工集团公司第七一○研究所 | Fuel oil gravity compensating device of submarine navigation device |
| CN208867805U (en) * | 2018-10-23 | 2019-05-17 | 天津蓝鳍海洋工程有限公司 | Amphibious robot |
| CN109649526A (en) * | 2019-01-10 | 2019-04-19 | 深圳市博铭维智能科技有限公司 | A kind of full landform helical detector |
| CN113184151A (en) * | 2021-06-03 | 2021-07-30 | 中国船舶科学研究中心 | Buoyancy adjusting system and method for medium-shallow depth submersible |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2611404A (en) | 2023-04-05 |
| GB202211035D0 (en) | 2022-09-14 |
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Application publication date: 20220111 |