CN114180011B - Underwater robot system - Google Patents
Underwater robot system Download PDFInfo
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- CN114180011B CN114180011B CN202111287452.9A CN202111287452A CN114180011B CN 114180011 B CN114180011 B CN 114180011B CN 202111287452 A CN202111287452 A CN 202111287452A CN 114180011 B CN114180011 B CN 114180011B
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- water surface
- underwater robot
- power generation
- supporting device
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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 control station, the water surface supporting device and the underwater robot are 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 water surface support device includes: a buoyancy block for providing buoyancy for 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 for the water surface supporting device and the underwater robot; the second communication unit is used for receiving and transmitting information; a movement unit for driving the water surface supporting device to move; 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, so that the influence of the 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 hydrological water quality meteorology and marine environment geological monitoring, such as observing properties of temperature, conductivity, salinity, chlorophyll, turbidity and the like in the ocean, and utilizes a high-precision subdivision layer profile flow meter to observe the instantaneous change of the flow velocity and the flow direction of the near-stratum of the ocean bottom and the topography in real time, and combines with the measurement of the vertical ocean current flow velocity and the characteristic parameters of waves of a delivery point to establish a stereoscopic observation ocean system for the change of the meteorology, the waves, the profile flow velocity, the turbulence and the alluvial of the topography of the ocean bottom.
With the expansion of the demand, the conventional water surface monitoring platform has not met the requirements of monitoring and detection. The underwater robot can be used for monitoring and exploring specific underwater sites and underwater environments. A typical cable-controlled underwater robot is powered and communicating via an umbilical, which requires connection of shore power and the underwater robot via a cable shaft. The distance that the underwater robot can move and control is positively correlated with the cable length of the umbilical cable, but the overlong cable length can cause poor communication effect, high-voltage power supply is needed to reduce loss, and the problems of overweight overall weight, difficult transportation, high manufacturing cost and the like can be caused. In addition, if the existing underwater robot is to realize the dynamic positioning function, dynamic positioning equipment is integrated on a mother ship of the underwater robot, and the mother ship with the dynamic positioning equipment has high manufacturing cost and extremely high leasing cost.
Disclosure of Invention
Based on the above, the application provides an underwater robot system, which supplies power and communicates for the underwater robot through the water surface supporting device, so that the cost of power supply and communication of the underwater robot is reduced.
One embodiment of the present application provides an underwater robot 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 first communication unit is connected with the first control unit; the water surface support device includes: a buoyancy block for 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 is used for supplying power to the water surface supporting device and the underwater robot; the second communication unit is used for receiving and transmitting information; the movement unit drives the water surface supporting device to move; 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 present application, the water surface support device further comprises a water surface positioning unit, the water surface positioning unit is connected to 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 water surface support device further comprises a sonar or ultrashort baseline positioning unit, which is connected to the second control unit.
According to some embodiments of the application, the water surface support device further comprises a flow rate and direction meter connected to the second control unit.
According to some embodiments of the application, the water surface support device further comprises a water quality sensor, which is connected to the second control unit.
According to some embodiments of the application, the surface support device further comprises a short baseline positioning unit or a long baseline positioning unit, the number of the surface support devices being a plurality.
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, which is connected to the first control unit.
According to some embodiments of the 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 temperature difference power generation assembly.
According to some embodiments of the application, the underwater robot is provided with a nine-axis sensor, and the nine-axis sensor is used for detecting the gesture 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 motion 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 of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art from these drawings without departing from the scope of protection of the present application.
Fig. 1 is a schematic view of an underwater robotic system of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the 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 water surface support device 200, and an underwater robot 300. The surface support device 200 is connected to the underwater robot 300 through a first cable. The water surface supporting device 200 can supply power to the underwater robot 300, the control station 100 is in communication connection with the water surface supporting device 200, the water surface supporting device 200 is in communication connection with the underwater robot 300, and operators can control the underwater robot 300 through the control station 100. The underwater robot 300 of the present application is primarily a cable-controlled underwater robot.
The control station 100 includes: a first control unit 101 and a first communication unit 102, the first communication unit 102 being connected to 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 control station 100 and controlling the respective units of the control station 100. The operator controls the water surface support device 200 and the underwater robot 300 through the control station 100. The control station 100 may be disposed on the water shore or on a mother ship, and the present application does not limit the location where the control station 100 is disposed.
The water surface support device 200 includes: a buoyancy block 201, a power generation unit 202, an energy storage unit 203, a second communication unit 204, a movement unit 205 and a second control unit 206.
The buoyancy block 201 provides buoyancy to the surface support device such that the surface support device 200 floats on the surface of the water. The other individual units of the surface support device 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 for generating electric power. The energy storage unit 203 is connected to 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 the various electrical components of the water surface support device 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 movable range of the underwater robot 300 is avoided.
The second communication unit 204 is used for transmitting and receiving information. The surface support device 200 may communicate with the control station 100 or the underwater robot 300 through the second communication unit 204. 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 limitation of the umbilical cable on the communication distance, and improve the communication efficiency.
Optionally, the underwater robot 300 includes a third communication unit 301, where 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 device 200 and drives the water surface supporting device 200 to move. The motion unit 205 may be a underwater propeller.
The second control unit 206 is connected to the power generation unit 202, the energy storage unit 203, the second communication unit 204, and the movement unit 205, respectively. The second control unit 206 is used for data processing of the water surface support device 200 and controls the respective units of the water surface support device 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 control person 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 control person sends a control signal to the water surface supporting device 200 through the first communication unit 102, the control signal is sent to the second control unit 206 after the second communication unit 204 receives the control signal, and after the second control unit 206 judges that the control signal is the 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 control for the underwater robot 300 is realized.
According to an optional aspect of the present application, the water surface supporting device 200 further includes a water surface positioning unit 207, where the water surface positioning unit 207 may be a GPS positioning component or a beidou positioning component. The water surface positioning unit 207 is connected to the second control unit 206. The surface positioning unit 207 is used to determine the heading and position of the surface support device 200 on the water surface. The heading and the position of the water surface supporting device 200 on the water surface are sent to the control station 100 through the second communication unit 204, so that operators can conveniently grasp the heading and the position of the water surface supporting 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 device 200. Dynamic positioning means that the heading and position of the water surface equipment on the water surface are kept unchanged. The water surface positioning unit 207 transmits the real-time heading and position of the water surface supporting device 200 on the water surface to the second control unit 206, and if the second control unit 206 determines that the heading of the water surface supporting 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 movement unit 205 is started to restore the water surface supporting device 200 to the preset heading or the preset position. The volume and weight of the surface support device 200 is much smaller than that of a mother ship, and the cost of dynamically positioning the surface support device 200 is low.
According to an alternative embodiment of the present application, the water surface supporting device 200 further includes a sonar or ultrashort baseline positioning unit, where the sonar or ultrashort baseline positioning unit is connected to the second control unit 206. A sonar or ultra-short baseline location unit may be used to determine the position of the underwater robot 300 relative to the surface support device 200. By superimposing the position of the underwater robot 300 relative to the surface support device 200 over the position of the surface support device 200, the position of the underwater robot 300 in the water may be determined. The ultra-short baseline positioning unit of the embodiment can select the existing ultra-short baseline positioning assembly.
According to an alternative embodiment of the present application, the water surface support device 200 further includes a flow rate and direction meter 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 water area where the surface support device 200 is located.
According to an alternative embodiment of the present application, the water surface support device 200 further comprises a water quality sensor, which is connected to the second control unit 206. The water quality sensor is used for detecting 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 water surface supporting device 200 further includes a short baseline positioning unit or a long baseline positioning unit, where the short baseline positioning unit may use an existing short baseline positioning component, and the long baseline positioning may use an existing long baseline positioning component. The number of the water surface supporting devices 200 is plural. By the combination of the plurality of surface support apparatuses 200, the underwater robot positioning of the short base line or the long base line is achieved.
The traditional underwater positioning of the underwater robot needs to use GNSS combined with an underwater acoustic positioning system, has high cost and extremely high layout requirement, is easy to be interfered by various underwater terrains and the like, and has extremely low cost performance in shallow water areas. The shallow water area refers to a water area with a distance from the water surface to the seabed within 1000 meters. According to the method, the water surface coordinate positioning of the water surface supporting device is realized through the water surface positioning unit, and on the basis, the position of the underwater robot is determined by combining acoustic positioning, or ultra-short baseline positioning, or long baseline positioning, so that the positioning with low cost and high accuracy is realized. And the interference of other factors is avoided in the shallow water area, and the positioning accuracy 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 to a shore power supply 103, and the shore power supply 103 is connected to an energy storage unit 203. The shore station power supply 103 may be used to power the various power supplies of the control station 100. The shore 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 electricity utilization safety of the underwater robot 300 can be further ensured. For example, when the electric energy generated by the power generation unit 202 is insufficient to satisfy the electric loads of the water surface support device 200 and the underwater robot 300 due to weather, the shore power supply 103 may fully charge the energy storage unit 203, and then control the water surface support device 200 and the underwater robot 300 to operate.
According to an alternative embodiment of the present application, the control station 100 further comprises a display unit 104, where the display unit 104 is connected to the first control unit 101. The display unit 104 may display the operation states of the water surface support device 200 and the underwater robot 300 according to the information provided by the first control unit 101.
According to an alternative aspect 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 solution of the present application, the underwater robot 300 is provided with a nine-axis sensor 302, and the nine-axis sensor 302 is used for detecting the pose of the underwater robot 300 in water. The posture information of the underwater robot 300 detected by the nine-axis sensor 302 is transmitted to the second communication unit 204 through the third communication unit 301, the second communication unit 204 transmits the posture information of the underwater robot 300 to the first communication unit 102, and the operator grasps the real-time posture of the underwater robot 300 through the control station 100.
According to the underwater robot system, the underwater robot is powered through the water surface supporting device, so that the power supply cost of the underwater robot is reduced, the power positioning cost of the water surface supporting device is low, the underwater robot is conveniently positioned, and the problem that the communication distance of the traditional cable-controlled underwater robot is limited by an umbilical cable is solved.
The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples have been provided herein to illustrate the principles and embodiments of the present application, and wherein the above examples are provided to assist in the understanding of the methods and concepts of the present application. Meanwhile, based on the ideas of the present application, those skilled in the art can make changes or modifications on the specific embodiments and application scope of the present application, which belong to the scope of the protection of the present application. In view of the foregoing, this description should not be construed 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 first communication unit is connected with the first control unit;
the water surface support device includes:
a buoyancy block for 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 is used for supplying power to the water surface supporting device and the underwater robot;
the second communication unit is used for receiving and transmitting information;
the movement 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, and the water surface positioning unit is matched with the movement unit to realize the dynamic positioning 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;
the sonar or ultrashort 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 determines the position of the underwater robot in water by superposing 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 flow rate and direction meter connected to the second control unit.
3. The underwater robotic system of claim 1, wherein the surface support device further comprises a water quality sensor coupled 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 number of surface support devices being a plurality.
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 coupled 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, a thermoelectric power generation assembly.
8. The underwater robot system as claimed in claim 1, wherein a nine-axis sensor for detecting the attitude of the underwater robot is provided on 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 |
Publications (2)
| Publication Number | Publication Date |
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| CN114180011A CN114180011A (en) | 2022-03-15 |
| CN114180011B true 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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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3244485B1 (en) * | 2009-06-12 | 2019-09-04 | Rolls-Royce Marine North America, Inc. | Towed antenna system and method |
| CN102495420B (en) * | 2011-12-13 | 2013-06-05 | 大连海事大学 | Underwater object precision positioning system and method |
| CN103310610B (en) * | 2013-06-03 | 2017-07-11 | 上海交通大学 | Mobile ocean observation net based on intelligent buoy and intelligent submersible vehicle |
| CN104215988B (en) * | 2014-09-27 | 2016-08-24 | 江苏华宏实业集团有限公司 | A kind of submarine target localization method |
| CN106240774B (en) * | 2016-06-21 | 2020-02-07 | 北京臻迪科技股份有限公司 | Unmanned ship and system |
| CN109515649A (en) * | 2018-09-29 | 2019-03-26 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of buoy pull-type underwater robot system suitable for non-powered positioning lash ship |
| CN113335480A (en) * | 2021-05-31 | 2021-09-03 | 中国人民解放军海军工程大学 | Intelligent underwater robot with umbilical cable based on Beidou positioning |
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