CN116022313B - Multi-sensing robot for underwater detection and use method - Google Patents
Multi-sensing robot for underwater detection and use method Download PDFInfo
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- CN116022313B CN116022313B CN202310319710.XA CN202310319710A CN116022313B CN 116022313 B CN116022313 B CN 116022313B CN 202310319710 A CN202310319710 A CN 202310319710A CN 116022313 B CN116022313 B CN 116022313B
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Abstract
The invention discloses a multi-sensor robot for underwater detection and a use method thereof, wherein the multi-sensor robot comprises a shell, a wheel foot module, a lifting module, a detection module and a control module; the shell is a square closed shell with a circular cavity in the center; the wheel foot module comprises at least two pairs of wheel foot assemblies, and each pair of wheel foot assemblies are symmetrically arranged on two sides of the shell; the lifting module is arranged in the circular cavity of the shell; the control module comprises an MCU unit, and the MCU unit is in communication connection with the wheel foot module, the lifting module, the detection module and the main control end and is used for controlling the wheel foot module and the lifting module according to control instructions of the main control end and information provided by the detection module. The amphibious robot disclosed by the invention is matched with the wheel foot module, the lifting module and the gravity center adjusting module, so that the robot can adjust the posture, flexibly move and cruises at a high speed in water, can realize self camouflage in the cruising process of the water, and improves the concealment.
Description
Technical Field
The invention relates to the technical field of underwater detection robots, in particular to a multi-sensor robot for underwater detection and a use method thereof.
Background
The underwater exploration robot is a robot for exploration work under water, and has become an important tool for underwater exploration work because of the severe danger of the underwater environment and the limited diving depth of the person. The underwater detection robot can be used for environment monitoring, resource monitoring and the like, and can also be applied to the military field, such as the detection of frogman. However, in the frog person detection process, since the frog person target is far smaller than the conventional submarine target, the conventional method cannot realize efficient and accurate monitoring, and is easy to be subjected to external interference to generate misjudgment, if the detection area and the detection precision are improved, a complex frog person detection system needs to be paved, the cost is high, and a plurality of inconveniences are brought. Therefore, a detection system or a detection device which is efficient, accurate, high in anti-interference capability, low in requirements on surrounding hardware supporting facilities and convenient to use is needed, and based on the detection system or the detection device, a multi-sensor robot for underwater detection is provided.
In order to solve the technical problems, the invention provides a multi-sensor robot for underwater detection and a use method thereof, which can flexibly move in water to realize high-speed cruising, detection and the like.
The invention adopts the technical scheme that:
a multi-sensor robot for underwater detection comprises a shell, a wheel foot module, a lifting module, a detection module and a control module;
the shell is a square closed shell with a circular cavity in the center;
the wheel foot module comprises at least two pairs of wheel foot assemblies, and each pair of wheel foot assemblies are symmetrically arranged on two sides of the shell;
the lifting module is arranged in the circular cavity of the shell;
the control module comprises an MCU unit, and the MCU unit is in communication connection with the wheel foot module, the lifting module, the detection module and the main control end and is used for controlling the wheel foot module and the lifting module according to control instructions of the main control end and information provided by the detection module.
Further, each wheel foot assembly comprises a wheel foot shaft and at least three foot spokes arranged around the wheel foot shaft, and a wheel foot driving motor is fixed on one side, close to the shell, of the wheel foot shaft;
the spokes are in Archimedes spiral recovery-shaped bending, each spoke is further twisted outwards in the bending direction, and the thickness of each spoke gradually decreases from one end close to the wheel foot shaft to the free end.
Further, the spokes are made of rubber materials.
Further, the lifting module comprises a ring sleeve, a fixed ring positioned in the center of the ring sleeve and a blade assembly fixedly arranged on the fixed ring, the ring sleeve is fixedly arranged in the circular cavity of the shell, and the fixed ring is fixedly connected with the ring sleeve through a fixed spoke;
the blade assembly comprises a blade and a blade driving motor, the blade driving motor is fixedly connected with the fixing ring, and the blade is fixedly connected with an output shaft of the blade driving motor.
Further, the lifting device also comprises a gravity center adjusting module, wherein the gravity center adjusting module is arranged on the outer ring of the lifting module and is positioned in the shell, and the gravity center adjusting module is in communication connection with the MCU unit.
Further, the gravity center adjusting module comprises a circular toothed ring and a gravity center adjusting assembly capable of moving around the circular toothed ring, and the gravity center adjusting assembly is provided with 2 groups;
the top of the circular toothed ring is provided with a plurality of mounting posts, the circular toothed ring is fixedly arranged in the shell through the mounting posts, and the inner ring of the circular toothed ring is provided with racks;
every group the focus adjustment subassembly all includes the first L type baffle that is located the circular ring gear outside, is located the inboard second L type baffle of circular ring gear, sets up the driving gear between first L type baffle and second L type baffle and sets up the balancing weight in first L type baffle below, the driving gear meshes with the annular rack of circular ring gear inner circle, just the driving gear is fixed to be set up in angle driving motor's output shaft, angle driving motor sets up between first L type baffle and second L type baffle.
Further, the first L-shaped baffle and the second L-shaped baffle are spliced to form a rectangular structure to wrap the circular toothed ring, a gap is formed at the top of the rectangular structure formed by splicing the first L-shaped baffle and the second L-shaped baffle, and the width of the gap is larger than the diameter of the mounting column.
Further, the detection module comprises a sonar probe, a metal detector, an infrared probe and a gyroscope, wherein the sonar probe, the metal detector and the gyroscope are arranged above the shell, and the infrared probe is arranged on the side face of the shell.
Based on the multi-sensor robot for underwater detection, the invention also provides a using method of the multi-sensor robot for underwater detection, which comprises the following steps:
(1) Correcting initialization parameters of the detection module;
(2) The control module acquires an environment judgment cruising instruction from the main control end, if the underwater cruising is needed, the detection module judges whether the environment is abnormal, if no abnormality exists, the control module sends an instruction to the lifting module and the gravity center adjusting module to control the amphibious robot to submerge to a set depth to cruise on the seabed, and cruises coordinates are acquired; if the cruise control command is abnormal, the detection module determines the abnormal condition and sends an alarm to the control module, the control module sends a cruise stop command, and the control module sends the abnormal condition and the alarm to the main control terminal;
(3) When the amphibious robot is submerged to the set depth of the seabed, the control module sends an instruction to the lifting module, the gravity center adjusting module and the wheel foot module, the lifting module stops running, the wheel foot module and the gravity center adjusting module cooperate to control the robot to travel, and meanwhile, the detection module detects whether the environment is abnormal or not at regular time in the traveling process, if so, the detection module determines the abnormal condition and sends an alarm to the control module, the control module sends a self-underwater camouflage instruction, and the control module sends the abnormal condition to the main control end.
Further, the underwater camouflage in the step (3) is realized by matching a lifting module and a wheel foot module, specifically:
the paddles of the lifting module rotate at a high speed, and sediment brought up to the sea floor covers the shell; the wheel foot assemblies positioned on the same side of the shell in the wheel foot module reversely rotate at high speed, and sediment brought up to the sea floor covers the shell.
The beneficial effects of the invention are as follows:
(1) According to the multi-sensor robot for underwater detection, the lifting module is matched with the gravity center adjusting module, so that the gesture of the robot can be adjusted in water, and the wheel foot module is assisted to realize flexible movement in water and high-speed cruising and detection;
(2) According to the multi-sensor robot for underwater detection, the lifting module is matched with the wheel foot module, so that a self-camouflage function can be realized in the underwater cruising and detecting process, and the concealment is improved;
(3) The foot spoke of the wheel foot module is designed to be in Archimedes spiral recovery-shaped bending, the thickness of the foot spoke gradually decreases from one end close to the wheel foot shaft to the free end, and the foot spoke has a certain torsion angle, so that the rotation zero clearance fit can be realized, and the walking on land and in water can be realized simultaneously; the foot spokes are made of rubber materials with certain flexibility, the free ends of the foot spokes are thinner, flexible contact can be realized in the advancing process, the motion stability in the advancing process is improved, and meanwhile, the foot spokes have good shock absorption performance in the high-speed advancing process;
(4) According to the multi-sensor robot for underwater detection, the detection module of the multi-sensor robot adopts sonar imaging to be matched with metal detection and infrared imaging, so that the reliability and accuracy of frog person detection are improved.
Drawings
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Figure 1 is a schematic view of the overall structure of an amphibious robot;
FIG. 2 is a schematic view of the structure of FIG. 1 with the housing removed;
FIG. 3 is a schematic view of the structure of the wheel foot assembly;
FIG. 4 is a schematic view of the structure of the wheel foot;
FIG. 5 is a schematic diagram of the overall structure of the lifting module;
FIG. 6 is a cross-sectional view of a lift module;
FIG. 7 is a schematic diagram of the overall structure of the centering module;
FIG. 8 is a partial cross-sectional view of a centering module;
FIG. 9 is a schematic diagram of underwater camouflage;
fig. 10 is a connection relationship diagram of a control process of the amphibious robot.
The drawing is marked:
1. a housing;
2. a wheel foot module; 21. wheel feet; 211. a wheel foot shaft; 212. a foot spoke; 22. a wheel foot driving motor;
3. a lifting module; 31. a ring sleeve; 32. fixing spokes; 33. a fixing ring; 34. a blade assembly; 341. a paddle; 342. a paddle drive motor;
4. a center of gravity adjustment module; 41. a circular toothed ring; 42. a center of gravity adjustment assembly; 421. a first L-shaped baffle; 422. a second L-shaped baffle; 423. a drive gear; 424. balancing weight; 425. an angle driving motor; 426. a fixing bolt is arranged on the upper part; 427. a lower fixing bolt; 43. a mounting column;
5. a detection module; 51. a sonar probe; 52. a metal detector; 53. an infrared probe; 54. a gyroscope.
Detailed Description
The invention provides a multi-sensor robot for underwater detection and a use method thereof, and the invention is further described in detail below for making the purposes, technical schemes and effects of the invention clearer and more definite. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention is described in detail below with reference to the attached drawing figures:
referring to fig. 1 and 2, the present embodiment provides a multi-sensor robot for underwater detection, which includes a housing 1, a wheel foot module 2, a lifting module 3, a center of gravity adjusting module 4, a detecting module 5 and a control module.
Wherein the shell 1 is a square closed shell with a circular cavity in the center, and the shell is in a hollow shell design; the wheel foot module 2 comprises two pairs of wheel foot assemblies, namely 4 wheel foot assemblies, and each pair of wheel foot assemblies are symmetrically arranged on two sides of the shell 1; the lifting module 3 is arranged in the circular cavity of the shell 1; the gravity center adjusting module 4 is arranged on the outer ring of the lifting module 3 and is positioned in the shell 1;
the control module comprises an MCU unit, and the MCU unit is in communication connection with the wheel foot module 2, the lifting module 3, the gravity center adjusting module 4, the detection module 5 and the main control end and is used for controlling the wheel foot module, the lifting module and the gravity center adjusting module according to a control instruction of the main control end and information provided by the detection module; the main control end is a human-computer interaction terminal, specifically a computer, and in addition, the main control end is connected with the control module in a wireless communication manner for facilitating signal communication.
Specifically, referring to fig. 3 and 4, in the wheel foot module 2, each wheel foot assembly includes a wheel foot 21 and a wheel foot driving motor 22 for driving the wheel foot to rotate, the wheel foot 21 is disposed outside the housing, and the wheel foot driving motor 22 is disposed inside the housing. The wheel foot 21 includes a wheel foot shaft 211 and three foot spokes 212 disposed around the wheel foot shaft, and one end of the wheel foot shaft 211 near the housing is fixedly connected with an output shaft of the wheel foot driving motor 22 through a coupling.
In addition, the spokes 212 are made of rubber material, and the thickness of the spokes 212 gradually decreases from the connecting end near the wheel foot shaft 211 to the free end; the spokes 212 are curved in an archimedes spiral recovery shape, and the angle α of the curvature is 80 to 90 °, specifically 90 ° in the present embodiment; and each spoke 212 is also twisted outwardly in its bending direction with a twist angle of 20-30 deg. of its free end relative to its connecting end, in particular 20 deg. in this embodiment.
Based on the wheel foot module, the free end of the foot spoke of each wheel foot firstly contacts the ground in the rotating running process, and the torsion angle is matched with the bending angle to assist the wheel foot to make each foot spoke transition smoothly in the rotating movement process; the foot spokes are made of rubber materials, and the free ends of the foot spokes are thinner and softer, so that a better damping effect can be achieved; in addition, each wheel foot can walk on land and in water simultaneously through the coordination of the bending angle and the torsion angle of each wheel foot.
Specifically, referring to fig. 5 and 6, the lifting module 3 includes a collar 31 welded and fixed in the circular cavity of the housing 1, a fixing ring 33 located at the center of the collar 31 and fixedly connected to the collar 31 through fixing spokes 32, and a paddle assembly 34 fixedly arranged on the fixing ring 33; the number of the fixing rings 33 is 2, and the blade assemblies 34 are 2, and are respectively fixed on the fixing rings 33 on the upper end face and the lower end face of the ring 31.
The blade assembly 34 includes a blade 341 and a blade driving motor 342, the blade driving motor 342 is fixedly connected to the fixing ring 33, and the blade 341 is fixedly connected to an output shaft of the blade driving motor 342.
Through the lifting module, the robot can be driven to realize submergence or floating in water under the driving of the blade.
Specifically, referring to fig. 7 and 8, the center of gravity adjusting module 4 includes a circular ring gear 41 and a center of gravity adjusting unit 42 that can move around the circular ring gear 41, wherein the center of gravity adjusting unit 42 is provided with 2 groups, and the center of gravity of the robot is adjusted by adjusting the positions of the 2 groups of center of gravity adjusting units on the circular ring gear.
The top of the circular gear ring 41 is provided with a plurality of mounting posts 43, the circular gear ring 41 is fixedly disposed inside the housing 1 through the mounting posts 43, and the inner ring of the circular gear ring 41 is provided with racks.
The gravity center adjusting components 42 each comprise a first L-shaped baffle 421 located outside the circular gear ring 41, a second L-shaped baffle 422 located inside the circular gear ring, a driving gear 423 disposed between the first L-shaped baffle 421 and the second L-shaped baffle 422, and a balancing weight 424 disposed below the first L-shaped baffle 421, and an angle driving motor 425 is fixedly disposed between the first L-shaped baffle and the second L-shaped baffle; the first L-shaped baffle 421 and the second L-shaped baffle 422 are spliced to form a rectangular structure to wrap the circular gear ring 41, and a gap is formed at the top of the rectangular structure formed by splicing the first L-shaped baffle 421 and the second L-shaped baffle 422, and the width of the gap is larger than the diameter of the mounting column 43; the driving gear 423 is engaged with the rack of the inner ring of the circular gear ring 41, and the driving gear 423 is fixedly provided to the output shaft of the angle driving motor 425.
In the installation process, the first L-shaped baffle 421, the second L-shaped baffle 422 and the balancing weight 424 are fixed by the upper fixing bolts 426 positioned at the inner side of the circular gear ring, and the first L-shaped baffle 421 and the balancing weight 424 are fixed by the lower fixing bolts 427 positioned at the bottom of the circular gear ring and close to the outer side of the circular gear ring.
Based on the gravity center adjusting module, the distribution positions of the 2 groups of gravity center adjusting components on the circular gear ring are adjusted, so that the overall gravity center adjustment of the robot can be realized, and the robot can be balanced or is tilted to one side.
Specifically, the detection module 5 includes sonar probes 51, metal detectors 52, infrared probes 53 and gyroscopes 54, where 4 sonar probes 51 are provided, and the 4 sonar probes are located above the housing and distributed at four corners of the housing; the number of the metal detectors 52 is 4, and the 4 metal detectors are positioned above the shell and between two adjacent sonar probes; the number of the infrared probes 53 is 2, and the 2 infrared probes are positioned on the side surfaces of the two sides of the shell, which are not provided with wheel feet; the gyroscope sets up 1, and the gyroscope sets up in the casing top and is located the intermediate position between one of them adjacent sonar probe.
The detection module is used for detecting frogman, in the detection process, the detection is firstly carried out through the sonar probe, if the sonar information detected by the sonar probe is abnormal, the metal detector and the infrared probe are started for detection and scanning, specific abnormal information is determined, and the abnormal information is sent to the control module.
The gyroscope in the detection module is used for detecting the gesture of the robot, is matched with the gravity center adjustment module for use, and is used for gesture adjustment of the robot.
In addition, referring to fig. 10, the multi-sensor robot for underwater detection provided in this embodiment further includes a power source and a power source manager, the power source may specifically use a battery, the power source manager uniformly distributes power, and the power source manager is also electrically connected with the control module.
The multi-sensor robot for underwater detection provided by the embodiment is characterized in that a wheel foot module, a lifting module, a gravity center adjusting module and a detection module are controlled by an MCU unit of a control module, SPI is adopted to interact with communication interface data, and I is adopted 2 And C, the communication protocol realizes the reading of the multichannel high-speed ADC data, namely, the information acquired by the detection module is read, the DSP processor is adopted to calculate the data, and the wheel foot module, the lifting module and the gravity center adjusting module are controlled according to the read and calculated information.
Based on the above-mentioned multi-sensor robot for underwater detection, the present embodiment further provides a method for using the multi-sensor robot for underwater detection, including the following steps:
(1) Correcting initialization parameters of the detection module;
(2) The control module acquires an environment judgment cruising instruction from the main control end, if the underwater cruising is needed, the detection module judges whether the environment is abnormal, if no abnormality exists, the control module sends an instruction to the lifting module and the gravity center adjusting module to control the amphibious robot to submerge to a set depth to cruise on the seabed, and cruises coordinates are acquired; if the cruise control command is abnormal, the detection module determines the abnormal condition and sends an alarm to the control module, the control module sends a cruise stop command, and the control module sends the abnormal condition and the alarm to the main control terminal; when the detection module detects the environment, the detection module firstly detects the environment through the sonar probe, if the sonar information detected by the sonar probe is abnormal, the metal detector and the infrared probe are started to detect and scan, specific abnormal information is determined, the abnormal information is sent to the control module, and then the control module sends the abnormal information to the main control end;
(3) When the amphibious robot is submerged to the set depth of the seabed, the control module sends an instruction to the lifting module, the gravity center adjusting module and the wheel foot module, the lifting module stops running, the wheel foot module and the gravity center adjusting module cooperate to control the robot to travel, and meanwhile, the detection module detects whether the environment is abnormal or not at regular time in the traveling process, if so, the detection module determines the abnormal condition and sends an alarm to the control module, the control module sends a self-underwater camouflage instruction, and the control module sends the abnormal condition to the main control end.
In the step (3), the robot can travel slowly or rapidly in the cruising process, for example, the robot can travel slowly, so that the robot is balanced normally, if the robot is tilted to one side, the gyroscope is used for detecting that one gravity center adjusting assembly moves to the opposite direction of the side, so that the whole robot is balanced, and at the moment, the two gravity center adjusting assemblies of the gravity center adjusting module are symmetrically arranged; if the robot runs fast, the two gravity center adjusting assemblies of the gravity center adjusting module are controlled to move towards the direction needing to run, so that the robot is enabled to incline towards the running direction, the robot is controlled to run fast towards the incline direction, and the robot runs fast through the wheel foot assembly far away from one side of the gravity center adjusting assemblies.
In addition, referring to fig. 9, the underwater camouflage in the step (3) is realized by matching the lifting module and the wheel foot module, specifically: the paddles of the lifting module rotate at a high speed, and sediment brought up to the sea floor covers the shell; the wheel foot assemblies positioned on the same side of the shell in the wheel foot module reversely rotate at high speed, and sediment brought up to the sea floor covers the shell. Such underwater camouflage is commonly used in water cruising processes where a frogman is detected, such as when a frogman target is found, the camouflage itself may be used to prevent the frogman from finding.
In addition, the multi-sensor robot for underwater detection provided by the embodiment can walk on land, and in the land walking process, whether the environment is abnormal or not is judged by the detection module, if no abnormality exists, the control module sends a command to the wheel foot module and the gravity center adjusting module to control the amphibious robot to walk on land; if the running stop command is abnormal, the detection module determines the abnormal condition and sends an alarm to the control module, the control module sends the running stop command, and the control module sends the abnormal condition and the alarm to the main control terminal. Specifically, if the detection module judges that the environment is not abnormal, the wheel foot module drives the robot to walk on the land, and in the walking process of the land, the gyroscope detects whether the robot is in a balanced state, and if the robot is inclined to one side, the inclination angle of the side is slightly smaller (for example, smaller than 20 DEG) and the normal running of the robot is not affected, the gravity center is not required to be adjusted; if the land inclination gradient is big, influence the robot normal travel, then gravity center adjustment module is suitable to carry out gravity center adjustment according to the testing result of gyroscope in order to guarantee that the robot body is stable, specifically can make one of them gravity center adjustment subassembly move to the reverse direction of askew side and make the robot body keep balanced.
In addition, the amphibious robot can realize differential steering by controlling the speed difference of 4 wheel feet in the land walking process.
It should be noted that the parts not described in the present invention can be realized by adopting or referring to the prior art.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (2)
1. The use method of the multi-sensor robot for underwater detection comprises the steps of using the multi-sensor robot for underwater detection, wherein the multi-sensor robot for underwater detection comprises a shell, a wheel foot module, a lifting module, a detection module, a control module and a gravity center adjusting module;
the shell is a square closed shell with a circular cavity in the center;
the wheel foot module comprises at least two pairs of wheel foot assemblies, and each pair of wheel foot assemblies are symmetrically arranged on two sides of the shell;
the lifting module is arranged in the circular cavity of the shell;
the control module comprises an MCU unit, and the MCU unit is in communication connection with the wheel foot module, the lifting module, the detection module and the main control end and is used for controlling the wheel foot module and the lifting module according to a control instruction of the main control end and information provided by the detection module;
each wheel foot assembly comprises a wheel foot shaft and at least three foot spokes arranged around the wheel foot shaft, and a wheel foot driving motor is fixed on one side, close to the shell, of the wheel foot shaft;
the spokes are in Archimedes spiral recovery bending, each spoke is further twisted outwards in the bending direction, and the thickness of each spoke gradually decreases from one end close to the wheel foot shaft to the free end;
the foot spokes are made of rubber materials;
the lifting module comprises a ring sleeve, a fixed ring positioned in the center of the ring sleeve and a blade assembly fixedly arranged on the fixed ring, wherein the ring sleeve is fixedly arranged in a circular cavity of the shell, and the fixed ring is fixedly connected with the ring sleeve through fixed spokes;
the blade assembly comprises a blade and a blade driving motor, the blade driving motor is fixedly connected with the fixed ring, and the blade is fixedly connected with an output shaft of the blade driving motor;
the gravity center adjusting module is arranged on the outer ring of the lifting module and positioned in the shell, and is in communication connection with the MCU unit;
the gravity center adjusting module comprises a circular toothed ring and a gravity center adjusting assembly capable of moving around the circular toothed ring, wherein 2 groups of gravity center adjusting assemblies are arranged;
the top of the circular toothed ring is provided with a plurality of mounting posts, the circular toothed ring is fixedly arranged in the shell through the mounting posts, and the inner ring of the circular toothed ring is provided with racks;
each group of gravity center adjusting components comprises a first L-shaped baffle plate positioned at the outer side of the circular gear ring, a second L-shaped baffle plate positioned at the inner side of the circular gear ring, a driving gear arranged between the first L-shaped baffle plate and the second L-shaped baffle plate, and a balancing weight arranged below the first L-shaped baffle plate, wherein the driving gear is meshed with an annular rack of the inner ring of the circular gear ring, and is fixedly arranged on an output shaft of an angle driving motor, and the angle driving motor is arranged between the first L-shaped baffle plate and the second L-shaped baffle plate;
the first L-shaped baffle and the second L-shaped baffle are spliced to form a rectangular structure to wrap the circular toothed ring, a gap is formed at the top of the rectangular structure formed by splicing the first L-shaped baffle and the second L-shaped baffle, and the width of the gap is larger than the diameter of the mounting column;
the detection module comprises a sonar probe, a metal detector, an infrared probe and a gyroscope, wherein the sonar probe, the metal detector and the gyroscope are arranged above the shell, and the infrared probe is arranged on the side face of the shell;
the method for using the multi-sensor robot for underwater detection is characterized by comprising the following steps of:
(1) Correcting initialization parameters of the detection module;
(2) The control module acquires an environment judgment cruising instruction from the main control end, if the underwater cruising is needed, the detection module judges whether the environment is abnormal, if no abnormality exists, the control module sends an instruction to the lifting module and the gravity center adjusting module to control the amphibious robot to submerge to a set depth to cruise on the seabed, and cruises coordinates are acquired; if the cruise control command is abnormal, the detection module determines the abnormal condition and sends an alarm to the control module, the control module sends a cruise stop command, and the control module sends the abnormal condition and the alarm to the main control terminal;
(3) When the amphibious robot is submerged to the set depth of the seabed, the control module sends an instruction to the lifting module, the gravity center adjusting module and the wheel foot module, the lifting module stops running, the wheel foot module and the gravity center adjusting module cooperate to control the robot to travel, and meanwhile, the detection module detects whether the environment is abnormal or not at regular time in the traveling process, if so, the detection module determines the abnormal condition and sends an alarm to the control module, the control module sends a self-underwater camouflage instruction, and the control module sends the abnormal condition to the main control end.
2. The method for using the multi-sensor robot for underwater detection according to claim 1, wherein the underwater camouflage in the step (3) is realized by matching a lifting module with a wheel foot module, specifically:
the paddles of the lifting module rotate at a high speed, and sediment brought up to the sea floor covers the shell; the wheel foot assemblies positioned on the same side of the shell in the wheel foot module reversely rotate at high speed, and sediment brought up to the sea floor covers the shell.
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| CN215223145U (en) * | 2021-06-24 | 2021-12-21 | 江苏路航建设工程有限公司 | Weeding equipment for maintenance of channel revetment |
| CN113799950A (en) * | 2021-09-10 | 2021-12-17 | 浙江大学 | Gravity center adjusting system applied to underwater robot |
| CN218639695U (en) * | 2022-07-19 | 2023-03-17 | 于传建 | Gravity center adjusting mechanism of walking robot |
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2023
- 2023-03-29 CN CN202310319710.XA patent/CN116022313B/en active Active
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