CN114180011A - Underwater robot system - Google Patents
Underwater robot system Download PDFInfo
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- CN114180011A CN114180011A CN202111287452.9A CN202111287452A CN114180011A CN 114180011 A CN114180011 A CN 114180011A CN 202111287452 A CN202111287452 A CN 202111287452A CN 114180011 A CN114180011 A CN 114180011A
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- underwater robot
- water surface
- power generation
- underwater
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
- H02N11/002—Generators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present application relates to an underwater robotic system. The underwater robot system includes: the system comprises a control station, a water surface supporting device and an underwater robot, wherein the water surface supporting device is connected with the underwater robot through a first cable; the control station includes: the first communication unit is connected with the first control unit; the surface support apparatus includes: the buoyancy block provides buoyancy for the water surface supporting device; a power generation unit for generating electric power; the energy storage unit is connected with the power generation unit and supplies power to the water surface supporting device and the underwater robot; a second communication unit for transceiving information; the movement unit drives the water surface supporting device to move; the second control unit, the power generation unit, the energy storage unit, the second communication unit and the movement unit are respectively connected with the second control unit. The underwater robot is provided with power and communication through the water surface supporting device, and the influence of an umbilical cable on the power supply and communication of the underwater robot is avoided.
Description
Technical Field
The application relates to the field of underwater equipment, in particular to an underwater robot system.
Background
The traditional water surface monitoring platform is mainly used for monitoring the hydrological water quality meteorological phenomena and the marine environment geology, such as observing the properties of temperature, conductivity, salinity, chlorophyll, turbidity and the like in the sea, a high-precision fine-layer profile current meter is used for observing the flow velocity and the flow direction of the near-stratum of the seabed and the instantaneous change of the terrain in real time, and a three-dimensional observation marine system for measuring the washout change of the meteorological phenomena, the waves, the profile flow velocity, the turbulent flow and the submarine topography is established by combining the measurement of the vertical ocean current flow velocity and the wave characteristic parameters of a throwing point.
With the expansion of the demand, the traditional water surface monitoring platform does not meet the requirements of monitoring and detection. The underwater robot can be used for monitoring and exploring underwater specific places and underwater environments. The common cable-controlled underwater robot is powered and communicated through an umbilical cable, and the umbilical cable is required to be connected with a shore power and the underwater robot through a cable shaft. The distance that underwater robot can remove and control is positive correlation with the cable length of umbilical cable, but the cable length of overlength can lead to the communication effect variation, needs high voltage power supply in order to reduce the loss, more can bring the whole weight overweight, transport difficulty, cost a great deal of problems such as too high. In addition, if the existing underwater robot needs to realize the power positioning function, power positioning equipment needs to be integrated on a mother ship of the underwater robot, and the mother ship with the power positioning equipment is high in manufacturing cost and extremely high in rental cost.
Disclosure of Invention
Based on this, this application provides an underwater robot system, carries out power supply and communication for underwater robot through surface of water strutting arrangement, reduces underwater robot's the cost of power supply and communication.
One embodiment of the present application provides an underwater robot system, including: the system comprises a control station, a water surface supporting device and an underwater robot, wherein the water surface supporting device is connected with the underwater robot through a first cable; the control station includes: the device comprises a first control unit and a first communication unit, wherein the first communication unit is connected with the first control unit; the surface support apparatus comprising: a buoyancy block providing buoyancy to the water surface support device; a power generation unit for generating electric power; the energy storage unit is connected with the power generation unit and supplies power to the water surface supporting device and the underwater robot; a second communication unit for transceiving information; the motion unit drives the water surface supporting device to move; and the power generation unit, the energy storage unit, the second communication unit and the movement unit are respectively connected with the second control unit.
According to some embodiments of the application, the water surface support device further comprises a water surface positioning unit, the water surface positioning unit is connected with the second control unit, and the water surface positioning unit is used for determining the heading and the position of the water surface support device.
According to some embodiments of the application, the surface support apparatus further comprises a sonar or ultra-short baseline positioning unit, which is connected to the second control unit.
According to some embodiments of the application, the surface support apparatus further comprises a flow direction meter connected to the second control unit.
According to some embodiments of the application, the water surface support apparatus further comprises a water quality sensor connected to the second control unit.
According to some embodiments of the application, the surface support apparatus further comprises a short baseline positioning unit or a long baseline positioning unit, and the surface support apparatus is plural in number.
According to some embodiments of the application, the control station further comprises a shore power source, the first control unit is connected to the shore power source, and the shore power source is connected to the energy storage unit.
According to some embodiments of the application, the control station further comprises a display unit, the display unit being connected to the first control unit.
According to some embodiments of the present application, the power generation unit is one or more of a wind power generation assembly, a solar power generation assembly, a tidal power generation assembly, a wave power generation assembly, and a thermoelectric power generation assembly.
According to some embodiments of the present application, a nine-axis sensor is provided on the underwater robot, the nine-axis sensor being configured to detect a pose of the underwater robot.
According to the underwater robot system, the underwater robot is powered through the water surface supporting device, so that the manufacturing cost and the power supply loss are reduced; the water surface positioning unit and the movement unit of the water surface supporting device are matched, so that the low-cost dynamic positioning of the water surface supporting device can be realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.
FIG. 1 is a schematic view of an underwater robotic system of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.
As shown in fig. 1, an embodiment of the present application provides an underwater robotic system. The underwater robot system includes a control station 100, a surface support 200, and an underwater robot 300. The surface support apparatus 200 is connected to the underwater robot 300 through a first cable. The water surface support device 200 can supply power to the underwater robot 300, the control station 100 is in communication connection with the water surface support device 200, the water surface support device 200 is in communication connection with the underwater robot 300, and an operator can control the underwater robot 300 through the control station 100. The underwater robot 300 of the present application is mainly a cable-controlled underwater robot.
The control station 100 includes: a first control unit 101 and a first communication unit 102, wherein the first communication unit 102 is connected with the first control unit 101. The first communication unit 102 is configured to transmit and receive information, and transmit the transmitted and received information to the first control unit 101 for processing. The first control unit 101 is used for controlling data processing of the station 100 and controlling the respective units of the control station 100. The operator controls the surface support device 200 and the underwater robot 300 through the control station 100. The control station 100 may be located on the water shore or on a mother ship, and the present application does not limit the location where the control station 100 is located.
The surface support apparatus 200 includes: the buoyancy block 201, the power generation unit 202, the energy storage unit 203, the second communication unit 204, the motion unit 205 and the second control unit 206.
The buoyancy block 201 provides buoyancy to the surface support apparatus so that the surface support apparatus 200 floats on the water. The other individual units of the surface support apparatus 200 are disposed on the buoyancy block 201. The buoyancy block 201 of the present application may alternatively be a metal shell with a cavity inside.
The power generation unit 202 is used to generate electric power. The energy storage unit 203 is connected with the power generation unit 202, and the electric energy generated by the power generation unit 202 is stored in the energy storage unit 203. The energy storage unit 203 supplies power to various electrical components of the surface support apparatus 200. Meanwhile, the energy storage unit 203 is connected to the underwater robot 300 through a first cable, and the energy storage unit 203 supplies power to the underwater robot 300. The underwater robot 300 is powered by the water surface supporting device 200, so that power supply consumption is reduced, and the limitation of the length of the umbilical cable on the moving range of the underwater robot 300 is avoided.
The second communication unit 204 is used for transmitting and receiving information. Through the second communication unit 204, the surface support apparatus 200 may communicate with the control station 100 or the underwater robot 300. Optionally, the second communication unit 204 integrates various communication components such as 4G/5G/WIFI/bluetooth/infrared, so as to realize wireless communication between the water surface support device 200 and the control station 100, avoid the limitation of an umbilical cable on the communication distance, and improve the communication efficiency.
Optionally, the underwater robot 300 includes a third communication unit 301, the third communication unit 301 may be a wired communication component, the second communication unit 204 is integrated with the wired communication component, and the second communication unit 204 is connected to the third communication unit 301 through a first cable, so as to implement communication between the water surface support device 200 and the underwater robot 300.
The motion unit 205 is a power part of the water surface supporting apparatus 200, and drives the water surface supporting apparatus 200 to move. The motion unit 205 may be an underwater propeller.
The second control unit 206 is respectively connected with the power generation unit 202, the energy storage unit 203, the second communication unit 204 and the motion unit 205. The second control unit 206 is used for data processing of the surface support apparatus 200 and controls the respective units of the surface support apparatus 200.
The underwater robot system supplies power to the underwater robot 300 through the water surface supporting device 200, and the limitation of the length of the umbilical cable to the moving range of the underwater robot 300 is avoided. When the water surface support device 200 needs to be controlled, a controller sends a control signal to the water surface support device 200 through the first communication unit 102 of the control station 100, the second communication unit 204 receives the control signal and sends the control signal to the second control unit 206, and the second control unit 206 controls the water surface support device 200 according to the signal. When the underwater robot needs to be controlled, a controller sends a control signal to the water surface support device 200 through the first communication unit 102, the second communication unit 204 sends the control signal to the second control unit 206 after receiving the control signal, and after the second control unit 206 judges that the control signal is a control signal for the underwater robot 300, the second communication unit 204 is controlled to send the control signal to the underwater robot 300, so that the underwater robot 300 is controlled.
According to an optional technical scheme of this application, surface of water supporting arrangement 200 still includes surface of water positioning unit 207, and surface of water positioning unit 207 can be the GPS positioning component, also can be big dipper positioning component. The water surface positioning unit 207 is connected to the second control unit 206. The surface location unit 207 is used to determine the heading and position of the surface support apparatus 200 at the surface. The heading and position of the water surface support device 200 on the water surface are sent to the control station 100 through the second communication unit 204, so that an operator can conveniently know the heading and position of the water surface support device 200 on the water surface in real time.
Optionally, the surface positioning unit 207 and the movement unit 205 cooperate to achieve dynamic positioning of the surface support apparatus 200. Dynamic positioning means that the heading and position of the surface equipment on the water surface remain unchanged. The water surface positioning unit 207 sends the real-time heading and position of the water surface support device 200 on the water surface to the second control unit 206, and if the second control unit 206 judges that the heading of the water surface support device 200 deviates from the preset heading by more than a preset value or the real-time position deviates from the preset position by more than a preset value, the second control unit starts the movement unit 205 to restore the water surface support device 200 to the preset heading or the preset position. The volume and weight of the surface support apparatus 200 are much smaller than the parent vessel, and the cost of dynamically positioning the surface support apparatus 200 is low.
According to an optional aspect of the present application, the water surface supporting apparatus 200 further includes a sonar or ultra-short baseline positioning unit, and the sonar or ultra-short baseline positioning unit is connected to the second control unit 206. A sonar or ultra-short baseline positioning unit may be used to determine the position of the underwater robot 300 relative to the surface support apparatus 200, and the position of the underwater robot 300 in the water may be determined by superimposing the position of the surface support apparatus 200 on the position of the underwater robot 300 relative to the surface support apparatus 200. The ultra-short baseline positioning unit of the embodiment can select the existing ultra-short baseline positioning component.
According to an alternative embodiment of the present invention, the water surface support apparatus 200 further comprises a flow direction meter, and the flow direction meter is connected to the second control unit 206. The flow rate and direction meter is used to measure the flow rate and direction of the water in the body of water in which the surface support apparatus 200 is located.
According to an optional aspect of the present application, the water surface supporting apparatus 200 further comprises a water quality sensor, and the water quality sensor is connected to the second control unit 206. The water quality sensor is used to detect the water quality of the water area in which the water surface support device 200 is located.
According to an optional aspect of the present application, the surface support apparatus 200 further comprises a short baseline positioning unit or a long baseline positioning unit, wherein the short baseline positioning unit can select an existing short baseline positioning component, and the long baseline positioning unit can select an existing long baseline positioning component. The number of surface support apparatuses 200 is plural. The combination of a plurality of surface support devices 200 can realize the positioning of the underwater robot with a short baseline or a long baseline.
The traditional underwater robot needs to use a GNSS combined underwater acoustic positioning system for underwater positioning, is high in manufacturing cost and extremely high in layout requirement, is easily interfered by various kinds of underwater topography and the like, and is extremely low in cost performance particularly in a shallow water area. The shallow water area refers to a water area with the distance from the water surface to the seabed within 1000 meters. This application realizes surface of water support device's surface of water coordinate location through surface of water positioning unit, on this basis, combines acoustics location, or ultrashort baseline location, or short baseline location, or long baseline location, confirms underwater robot's position, realizes the location of low-cost high accuracy. And the interference of other factors is avoided in a shallow water area, and the positioning precision is high.
According to an alternative embodiment of the present application, the control station 100 further comprises a shore power supply 103. The first control unit 101 is connected with the shore power supply 103, and the shore power supply 103 is connected with the energy storage unit 203. A shore station power supply 103 may be used to power the various power sources of the control station 100. The shore station power supply 103 is connected with the energy storage unit 203 through a second cable to supply power to the energy storage unit 203, so that the power utilization safety of the underwater robot 300 can be further ensured. For example, when the power generated by the power generation unit 202 is insufficient to satisfy the power load of the water surface support apparatus 200 and the underwater robot 300 due to weather, the energy storage unit 203 may be fully charged by the shore station power supply 103, and then the water surface support apparatus 200 and the underwater robot 300 may be controlled to operate.
According to an optional technical solution of the present application, the control station 100 further includes a display unit 104, and the display unit 104 is connected to the first control unit 101. The display unit 104 may display the operation states of the surface support apparatus 200 and the underwater robot 300 according to the information provided by the first control unit 101.
According to an alternative embodiment of the present application, the power generation unit 202 is one or more of a wind power generation assembly, a solar power generation assembly, a tidal power generation assembly, a wave power generation assembly, and a thermoelectric power generation assembly.
According to an optional technical scheme of the application, a nine-axis sensor 302 is arranged on the underwater robot 300, and the nine-axis sensor 302 is used for detecting the attitude of the underwater robot 300 in water. Attitude information of the underwater robot 300 detected by the nine-axis sensor 302 is sent to the second communication unit 204 through the third communication unit 301, the second communication unit 204 sends the attitude information of the underwater robot 300 to the first communication unit 102, and an operator grasps the real-time attitude of the underwater robot 300 through the control station 100.
The underwater robot system supplies power to the underwater robot through the water surface supporting device, reduces the power supply cost of the underwater robot, is low in power positioning cost of the water surface supporting device, facilitates the positioning of the underwater robot, and solves the problem that the communication distance of the traditional cable-controlled underwater robot is limited by an umbilical cable.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the description of the embodiments is only intended to facilitate the understanding of the methods and their core concepts of the present application. Meanwhile, a person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of the present application. In view of the above, the description should not be taken as limiting the application.
Claims (8)
1. An underwater robotic system, comprising: the system comprises a control station, a water surface supporting device and an underwater robot, wherein the water surface supporting device is connected with the underwater robot through a first cable;
the control station includes: the device comprises a first control unit and a first communication unit, wherein the first communication unit is connected with the first control unit;
the surface support apparatus comprising:
a buoyancy block providing buoyancy to the water surface support device;
a power generation unit for generating electric power;
the energy storage unit is connected with the power generation unit and supplies power to the water surface supporting device and the underwater robot;
a second communication unit for transceiving information;
the motion unit drives the water surface supporting device to move;
the water surface positioning unit is used for determining the heading and the position of the water surface supporting device; the power generation unit, the energy storage unit, the second communication unit, the movement unit and the water surface positioning unit are respectively connected with the second control unit;
and the sonar or ultra-short baseline positioning unit is used for determining the position of the underwater robot relative to the water surface supporting device, is connected with the second control unit, and is used for determining the position of the underwater robot in water by superposing the position of the water surface supporting device on the position of the underwater robot relative to the water surface supporting device.
2. The underwater robotic system of claim 1, wherein the surface support device further comprises a current meter, the current meter being coupled to the second control unit.
3. An underwater robotic system as claimed in claim 1, wherein the surface support means further comprises a water quality sensor, the water quality sensor being connected to the second control unit.
4. The underwater robotic system of claim 1, wherein the surface support device further comprises a short baseline positioning unit or a long baseline positioning unit, the surface support device being plural in number.
5. The underwater robotic system of claim 1, wherein the control station further comprises a shore power source, the first control unit being connected to the shore power source, the shore power source being connected to the energy storage unit.
6. The underwater robotic system of claim 1, wherein the control station further comprises a display unit, the display unit being connected to the first control unit.
7. The underwater robotic system of claim 1, wherein the power generation unit is one or more of a wind power generation assembly, a solar power generation assembly, a tidal power generation assembly, a wave power generation assembly, and a thermoelectric power generation assembly.
8. The underwater robot system of claim 1, wherein a nine-axis sensor is provided on the underwater robot for detecting a posture of the underwater robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111287452.9A CN114180011B (en) | 2021-11-02 | 2021-11-02 | Underwater robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111287452.9A CN114180011B (en) | 2021-11-02 | 2021-11-02 | Underwater robot system |
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| CN114180011A true CN114180011A (en) | 2022-03-15 |
| CN114180011B CN114180011B (en) | 2023-04-21 |
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| CN202111287452.9A Active CN114180011B (en) | 2021-11-02 | 2021-11-02 | Underwater robot system |
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| US20110162573A1 (en) * | 2009-06-12 | 2011-07-07 | Race Roger E | Towed antenna system and method |
| CN102495420A (en) * | 2011-12-13 | 2012-06-13 | 大连海事大学 | Underwater object precision positioning system and method |
| CN103310610A (en) * | 2013-06-03 | 2013-09-18 | 上海交通大学 | Mobile ocean observation net based on intelligent buoy and intelligent submersible device |
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| CN114180011B (en) | 2023-04-21 |
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