CN114291238A - Underwater emergency rescue robot - Google Patents
Underwater emergency rescue robot Download PDFInfo
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- CN114291238A CN114291238A CN202111518194.0A CN202111518194A CN114291238A CN 114291238 A CN114291238 A CN 114291238A CN 202111518194 A CN202111518194 A CN 202111518194A CN 114291238 A CN114291238 A CN 114291238A
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- emergency rescue
- mechanical arm
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- 238000005520 cutting process Methods 0.000 claims abstract description 30
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 16
- 229910052760 oxygen Inorganic materials 0.000 claims description 16
- 239000001301 oxygen Substances 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000001603 reducing effect Effects 0.000 abstract description 4
- 238000005286 illumination Methods 0.000 description 8
- 238000006424 Flood reaction Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Abstract
The invention provides an underwater emergency rescue robot, which comprises: the buoyancy housing module is used for providing buoyancy; the underwater propulsion module is arranged on the buoyancy shell module and used for providing propulsion; the underwater sensing module is arranged on the buoyancy shell module and used for sensing the external environment; the mechanical arm module is arranged at the advancing end of the buoyancy shell module; the breaking-in cutting module is arranged on the mechanical arm module and is used for realizing breaking-in cutting; and the main control module is used for controlling the underwater propulsion module, the underwater sensing module and the mechanical arm module. According to the underwater emergency rescue robot, the buoyancy shell module provides buoyancy, the underwater sensing module senses the external environment, the main control module controls the underwater propelling module to achieve the movement of advancing and retreating, floating and submerging, turning and the like, the main control module controls the telescopic movement of the mechanical arm module, and the cutting of the breaking and detaching cutting module is achieved according to the requirement, so that the purposes of guaranteeing life safety and reducing property loss are achieved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an underwater emergency rescue robot.
Background
Floods such as floods, dam breaks and the like always threaten the life safety and environmental safety of human beings, the rescue after the floods is mostly manual search and rescue, and rescue equipment is used as an aid, however, the underwater environment after the floods is complex and dangerous, wherein turbulent floods, covering of collapsed materials and turbid underwater vision are a plurality of problems of underwater emergency rescue operation; meanwhile, due to the human body, a diver cannot work underwater for a long time, and effective and timely search and rescue operation is difficult to realize.
In recent years, underwater robots attract wide attention, the underwater robots are widely applied to operations such as underwater object salvage, archaeology, emergency rescue, marine product fishing and the like, and the underwater robots have important significance for underwater rescue tasks.
The underwater robot in the prior art can only be used for fishing, archaeology, rescue, marine product fishing and other operations, and has a single function.
Disclosure of Invention
The invention provides an underwater emergency rescue robot, which is used for solving the defects that an underwater robot in the prior art is single in function and only can be used for object salvage, and can replace search and rescue workers to carry out underwater cutting operation, thereby achieving the purposes of guaranteeing life safety and reducing property loss.
The invention provides an underwater emergency rescue robot, which comprises: a buoyancy housing module for providing buoyancy;
the underwater propulsion module is arranged on the buoyancy shell module and is used for providing propulsion force;
the underwater sensing module is arranged on the buoyancy shell module and is used for sensing the external environment;
the mechanical arm module is arranged at the advancing end of the buoyancy shell module;
the breaking and detaching module is arranged on the mechanical arm module and used for realizing breaking and detaching cutting;
and the main control module is used for controlling the underwater propulsion module, the underwater sensing module and the mechanical arm module.
According to the underwater emergency rescue robot provided by the invention, the buoyancy shell module comprises:
an upper hull for providing buoyancy;
the flow guide block is arranged on the advancing end side of the upper watchcase and is used for guiding flow;
the floor stand is arranged at the bottom of the upper meter shell and used for supporting the robot.
The underwater emergency rescue robot comprises a rescue auxiliary module, wherein the rescue auxiliary module is arranged at the bottom of the upper meter shell.
According to the underwater emergency rescue robot, the rescue auxiliary module is an oxygen tank and a respirator, the oxygen tank is arranged at the bottom of the upper meter shell, and the respirator is communicated with the oxygen tank.
According to the underwater emergency rescue robot provided by the invention, the main control module comprises:
the photoelectric conversion device is used for converting the optical signal into an electric signal for transmission;
the power converter is used for supplying power to the underwater propulsion module and the underwater sensing module;
the embedded controller is a communication node and is used for controlling the underwater propulsion module, the underwater sensing module and the mechanical arm module;
and the exchanger is used for establishing communication between the underwater sensing module and the upper computer.
According to the present invention, there is provided an underwater emergency rescue robot, the underwater propulsion module comprising:
the horizontal propeller thrusters are provided with an even number and symmetrically arranged on two sides of the landing bracket; the horizontal propeller thruster is used for realizing propulsion and steering in the horizontal direction;
the vertical propeller thrusters are provided with an even number and are embedded in the upper meter shell, and the vertical propeller thrusters are used for realizing lifting movement in the vertical direction;
the horizontal propeller thruster and the vertical propeller thruster are electrically connected with the main control module.
According to the underwater emergency rescue robot provided by the invention, the underwater sensing module comprises:
the underwater vision system is used for sensing the visual field of a working area;
the image processor is used for underwater video acquisition and underwater image enhancement;
the inertial navigation sensor is used for detecting the pose of the robot;
a depth meter for detecting a depth of the robot;
the underwater vision system, the inertial navigation sensor and the depth meter are all electrically connected with the main control module.
According to the invention, the underwater vision system comprises:
the camera is used for providing a working area visual field;
the illuminating lamp is used for illuminating the underwater environment with weak light.
According to the underwater emergency rescue robot provided by the invention, the mechanical arm module comprises:
the underwater mechanical arm is arranged at the advancing end of the upper meter shell and is connected with the breaking-in cutting module;
and the clamping jaw is arranged at the tail end of the underwater mechanical arm and used for clamping the rescue auxiliary module.
According to the underwater emergency rescue robot, the breaking and cutting module adopts a plasma cutting gun.
According to the underwater emergency rescue robot, the buoyancy shell module provides buoyancy, the underwater sensing module senses the external environment, the main control module controls the underwater propulsion module to move forward and backward, float up and dive down, turn and the like, the main control module controls the mechanical arm module to stretch and retract, and cutting of the breaking and detaching cutting module is achieved according to needs, so that the purposes of guaranteeing life safety and reducing property loss are achieved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is an isometric view of an underwater rescue robot provided by the present invention;
fig. 2 is a front view of an underwater rescue robot provided by the present invention;
fig. 3 is a bottom view of the underwater rescue robot provided by the present invention;
fig. 4 is a side view of an underwater rescue robot provided by the present invention;
FIG. 5 is a schematic diagram of the internal structure of the main control cabin provided by the present invention; .
Reference numerals:
1: a buoyancy housing module; 11: a watch case is put on; 12: a flow guide block; 13: a floor stand;
2: a main control module; 21: a photoelectric conversion device; 22: a power converter; 23: a switch; 24: an embedded controller; 25: an electronic governor; 26: a communication control cable; 27: a power cable;
3: an underwater propulsion module; 31: a horizontal propeller thruster; 32: a vertical propeller thruster;
4: an underwater sensing module; 41: an underwater vision system; 42: a graphics processor; 43: an inertial navigation sensor; 44: a depth meter; 411: a camera; 412: an illuminating lamp; 4111: a forward looking binocular camera; 4112: a downward-looking binocular camera; 4121: a forward-looking illumination lamp; 4122: downward-looking illuminating lamps;
5: a robotic arm module; 51: an underwater mechanical arm; 52: a clamping jaw;
6: breaking and detaching the cutting module;
7: and a rescue auxiliary module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
One embodiment of the invention is described below with reference to fig. 1, and discloses an underwater emergency rescue robot capable of realizing an underwater breaking and cutting function.
The underwater emergency rescue robot provided by the embodiment of the invention adopts a modular design and comprises a buoyancy shell module 1, a main control module 2, an underwater propulsion module 3, an underwater sensing module 4, a mechanical arm module 5 and a breaking and detaching cutting module 6. The buoyancy shell module 1 is used for providing buoyancy; the underwater propulsion module 3 is arranged on the buoyancy shell module, and the underwater propulsion module 3 is used for providing propulsion; the underwater sensing module 4 is arranged on the buoyancy shell module 1, and the underwater sensing module 4 is used for sensing the external environment; the mechanical arm module 5 is arranged at the advancing end of the buoyancy shell module 1; the breaking-in cutting module 6 is arranged on the mechanical arm module 5, and the breaking-in cutting module 6 is used for realizing breaking-in cutting; the main control module 2 is used for controlling the underwater propulsion module 3, the underwater sensing module 4 and the mechanical arm module 5.
The underwater emergency rescue robot disclosed by the embodiment of the invention realizes stable posture through the buoyancy shell module 1; the underwater propulsion module 3 realizes forward and backward movement, left and right turning, floating and diving swimming, and the underwater sensing module 4 senses the external environment; the mechanical arm module 5 is clamped and is broken in the detaching and cutting module 6, the main control module 2 controls the underwater propelling module 3, the underwater sensing module 4 and the mechanical arm module 5, and underwater steel plate cutting is realized through the detaching and cutting module 6, so that life safety is guaranteed, and property loss is reduced.
Wherein, the breaking and cutting module 6 can adopt a plasma cutting gun.
Specifically, as shown in fig. 1 and 2, the buoyancy casing module 1 includes an upper casing 11 located on the outer surface of the top end of the robot, a flow guide block 12 located at the front end of the robot, and a floor stand 13 located at the bottom end of the robot. The upper case 11 is composed of a buoyant hull covering the upper surface of the robot for providing buoyancy to the entire robot and maintaining the balance of the robot posture. The flow guide block 12 is composed of a floating body block with a convex middle part, and plays a role in flow guide when the whole robot moves forwards. The floor stand 13 is composed of four stands fixed at four corners of the robot and used for supporting the robot; while also providing mounting structure for the underwater propulsion module 3.
As shown in fig. 1 and 2, in the embodiment provided by the invention, the rescue assisting module 7 is further included, the rescue assisting module 7 includes an oxygen tank and a respirator, the oxygen tank is arranged at the bottom of the upper case 11, and the specific implementation manner can be that an oxygen tank bottom plate is fixedly arranged at the bottom of the upper case 11, and the oxygen tank is fixed on the oxygen tank bottom plate through a clamp. The respirator is communicated with the oxygen tank and used for conveying oxygen to the trapped underwater people.
The oxygen tank and the respirator are arranged on the abdomen of the robot and can be used for one person to breathe by supplying oxygen underwater for 30 minutes, and the respirator is clamped by the mechanical arm module 5 and delivered to a person to be rescued by the mechanical arm module 5 to complete rescue. Wherein, the oxygen jar can set up the capacity size according to the demand, considers the total bearing capacity of robot comprehensively.
Specifically, the underwater propulsion module 3 comprises an even number of horizontal propeller propellers 31 symmetrically arranged on two sides of the floor stand 13; the horizontal propeller thruster 31 is used for realizing propulsion and steering in the horizontal direction; vertical propeller thrusters 32, which are provided in an even number and are embedded inside upper case 11, vertical propeller thrusters 32 being provided to realize a vertical lifting movement; both the horizontal propeller thruster 31 and the vertical propeller thruster 32 are electrically connected to the main control module 2. As shown in fig. 1 and 3, upper case 11 has a through hole for vertical propeller 32 to facilitate vertical propeller 32 to work, and to realize the vertical elevating movement of the entire robot.
Furthermore, four horizontal propeller thrusters 31 are provided, are respectively positioned around the robot, and are fixedly arranged on the outer side of the floor stand 13; the vertical propeller thrusters 32 have two, are located near the center of gravity of the robot, and are symmetrical with respect to the center of gravity of the robot. The horizontal propeller thruster 31 and the vertical propeller thruster 32 are provided with even numbers and are symmetrically arranged to realize the balance and stability of the robot in swimming.
As shown in fig. 4 and 5, the underwater sensing module 4 includes an underwater vision system 41, a graphic processor 42, an inertial navigation sensor 43, and a depth meter 44, the underwater vision system 41 being used for sensing the field of view of the working area; the graphics processor 42 is used for underwater video acquisition and underwater image enhancement; the graphic processor 42, the inertial navigation sensor 43 and the depth gauge 44 are positioned in the main control cabin, and the inertial navigation sensor 43 is used for detecting the pose of the robot; the depth gauge 44 is used to detect the depth of the robot.
The underwater vision system 41 comprises a camera 411 and an illuminating lamp 412, wherein the camera 411 is used for providing a working area view; the illumination lamp 412 is used for illumination of low-light underwater environments. The cameras 411 include two forward looking binocular cameras 4111 and two downward looking binocular cameras 4112; the two front-looking binocular cameras 4111 provide a front view for the robot, and the down-looking binocular camera 4112 provides a lower working area view for the robot; the illumination lamps 412 include a forward-view illumination lamp 4121 and a downward-view illumination lamp 4122 for illumination of the environment under weak light.
The on-off control of the illumination lamp 412 is realized by the embedded controller 24 in the main control cabin outputting pwm (pulse Width modulation). The depth meter 44 and the inertial navigation sensor 43 are integrated in the main control cabin and directly connected with the embedded controller 24 of the main control cabin to obtain the attitude information such as the depth and the course angle of the underwater emergency rescue robot.
As shown in fig. 1, 3 and 4, the robot module 5 is a lightweight 4-DOF robot module, and includes a underwater robot 51 and a clamping jaw 52, the underwater robot 51 is disposed at the advancing end of the upper case 11, and is connected with a breaking-in cutting module 6; the underwater mechanical arm 51 can comprise a mechanical arm base, a mechanical arm connecting rod and an end effector, high-precision motors are distributed on each joint of the underwater mechanical arm connecting rod and the end effector to directly control the rotation of each joint, driving modules of the motors are integrated on the mechanical arm base in a unified mode, and the underwater mechanical arm 51 is controlled through serial port communication of the embedded controller 24 located in the main control cabin; the breaking and cutting module 6 is fixedly mounted on the underwater robot arm 51. The clamping jaw 52 is arranged at the tail end of the underwater mechanical arm 51 and used for clamping the rescue auxiliary module 7.
It should be noted that the structure of the underwater robot arm 51 includes, but is not limited to, the above form, as long as the structure can realize the movement of the robot arm.
The underwater mechanical arm 51 has four degrees of freedom, and a working area covers the lower end and the advancing end of the robot; the jaws 52 are openable and closable for grasping and delivering the respirator.
As shown in fig. 1, 2 and 5, the main control module 2 includes a main control cabin located at the abdomen of the robot and a photoelectric conversion device 21 located at the tail. The main control cabin is internally provided with a power converter 22, a switch 23, an embedded controller 24 and an electronic speed regulator 25, and is responsible for analyzing and transmitting the instructions of the mechanical arm module 5, sending the instructions of the horizontal propeller thruster 31 and the vertical propeller thruster 32, analyzing and transmitting the information of a depth gauge 44 and an inertial navigation sensor 43, and acquiring underwater videos and enhancing images.
The photoelectric conversion device 21 is used for converting an electric signal into an optical signal for transmission; the power converter 22 comprises a 220V-24V power converter and a 24V-12V power converter, wherein the 220V-24V power converter is used for converting alternating current into direct current and supplying power to the four horizontal propeller propellers 31 and the two vertical propeller propellers 32, and the 24V-12V power converter is used for supplying power to the camera 411, the illuminating lamp 412, the mechanical arm module 5, the inertial navigation sensor 43, the switch 23 and the embedded controller 24; the embedded controller 24 is responsible for the bottom control of the whole system and is a main node of communication; the switch 23 is used to establish communication between the underwater vision system 41, the graphics processor 42 and the upper computer. The inertial navigation sensor 43 and the depth meter 44 belong to the underwater sensing module 4, are responsible for detecting the pose and the depth of the underwater robot, and are installed inside the main control cabin. The graphics processor 42 is used for underwater video acquisition and underwater image enhancement. The electronic speed regulator 25 is used for regulating the rotating speed of the horizontal propeller thruster 31 and the vertical propeller thruster 32, and further realizes the control of the walking speed of the robot. The main control cabin is connected with the underwater mechanical arm 51, the camera 411, the horizontal propeller thruster 31 and the vertical propeller thruster 32 through a communication control cable 26, and a power cable 27 transmits 220v current for the robot.
According to the underwater emergency rescue robot, the breaking-in cutting module 6 and the rescue auxiliary module 7 are arranged, so that equipment support is provided for natural disaster rescue, underwater steel plate cutting, oxygen conveying and other operations can be performed by partially replacing underwater search and rescue workers, and the purposes of guaranteeing life safety and reducing property loss are achieved; meanwhile, due to the adoption of the modular design, the corresponding modules can be conveniently detached and replaced when different tasks are executed or maintenance is needed.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An underwater emergency rescue robot, comprising:
a buoyancy housing module for providing buoyancy;
the underwater propulsion module is arranged on the buoyancy shell module and is used for providing propulsion force;
the underwater sensing module is arranged on the buoyancy shell module and is used for sensing the external environment;
the mechanical arm module is arranged at the advancing end of the buoyancy shell module;
the breaking and detaching module is arranged on the mechanical arm module and used for realizing breaking and detaching cutting;
and the main control module is used for controlling the underwater propulsion module, the underwater sensing module and the mechanical arm module.
2. An underwater emergency rescue robot as claimed in claim 1, wherein the buoyancy housing module comprises:
an upper hull for providing buoyancy;
the flow guide block is arranged on the advancing end side of the upper watchcase and is used for guiding flow;
the floor stand is arranged at the bottom of the upper meter shell and used for supporting the robot.
3. An underwater emergency rescue robot as claimed in claim 2, further comprising a rescue assistance module disposed at a bottom of the upper housing.
4. An underwater emergency rescue robot as recited in claim 3, wherein the rescue aid module includes an oxygen tank disposed at a bottom of the upper case and a breather in communication with the oxygen tank.
5. An underwater emergency rescue robot as claimed in claim 1, wherein the main control module comprises:
the photoelectric conversion device is used for converting the optical signal into an electric signal for transmission;
the power converter is used for supplying power to the underwater propulsion module and the underwater sensing module;
the embedded controller is a communication node and is used for controlling the underwater propulsion module, the underwater sensing module and the mechanical arm module;
and the exchanger is used for establishing communication between the underwater sensing module and the upper computer.
6. The underwater emergency rescue robot of claim 2, wherein the underwater propulsion module comprises:
the horizontal propeller thrusters are provided with an even number and symmetrically arranged on two sides of the landing bracket; the horizontal propeller thruster is used for realizing propulsion and steering in the horizontal direction;
the vertical propeller thrusters are provided with an even number and are embedded in the upper meter shell, and the vertical propeller thrusters are used for realizing lifting movement in the vertical direction;
the horizontal propeller thruster and the vertical propeller thruster are electrically connected with the main control module.
7. The underwater emergency rescue robot of claim 1, wherein the underwater sensing module comprises:
the underwater vision system is used for sensing the visual field of a working area;
the image processor is used for underwater video acquisition and underwater image enhancement;
the inertial navigation sensor is used for detecting the pose of the robot;
a depth meter for detecting a depth of the robot;
the underwater vision system, the inertial navigation sensor and the depth meter are all electrically connected with the main control module.
8. An underwater emergency rescue robot as claimed in claim 7, wherein the underwater vision system comprises:
the camera is used for providing a working area visual field;
the illuminating lamp is used for illuminating the underwater environment with weak light.
9. The underwater emergency rescue robot of claim 3, wherein the robot arm module comprises:
the underwater mechanical arm is arranged at the advancing end of the upper meter shell and is connected with the breaking-in cutting module;
and the clamping jaw is arranged at the tail end of the underwater mechanical arm and used for clamping the rescue auxiliary module.
10. An underwater emergency rescue robot as claimed in any one of claims 1 to 9, wherein the break-in cutting module is a plasma cutting gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111518194.0A CN114291238A (en) | 2021-12-10 | 2021-12-10 | Underwater emergency rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111518194.0A CN114291238A (en) | 2021-12-10 | 2021-12-10 | Underwater emergency rescue robot |
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| Publication Number | Publication Date |
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| CN114291238A true CN114291238A (en) | 2022-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111518194.0A Pending CN114291238A (en) | 2021-12-10 | 2021-12-10 | Underwater emergency rescue robot |
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| CN (1) | CN114291238A (en) |
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| CN115258101A (en) * | 2022-07-28 | 2022-11-01 | 青岛澳西智能科技有限公司 | Underwater rescue robot |
| CN116513421A (en) * | 2023-04-14 | 2023-08-01 | 威海多鱼海洋科技有限公司 | Unmanned autonomous underwater vehicle |
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