CN205665531U - General type surface of water mobile robot platform - Google Patents
General type surface of water mobile robot platform Download PDFInfo
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- CN205665531U CN205665531U CN201620541231.8U CN201620541231U CN205665531U CN 205665531 U CN205665531 U CN 205665531U CN 201620541231 U CN201620541231 U CN 201620541231U CN 205665531 U CN205665531 U CN 205665531U
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- steering wheel
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- swing arm
- water surface
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Abstract
The utility model relates to a general type surface of water mobile robot platform, include: on -board controller and connected router, be used to lead, data radio station, actuating mechanism, actuating mechanism passes through the receiver and is connected with the on -board controller, actuating mechanism be used for according to the order of on -board controller carry on that the automatic ignition of steering wheel is flame -out, the switching control of directional control and remote control. The utility model discloses the function that has remote control. Can realize that the remote control water surface robot realization is igniteed / is stallled, is increased or reduction engine oil door is big or small, turn left or turn right through actuating mechanism.
Description
Technical field
This utility model belongs to advanced manufacture and technical field of automation, specifically one can be used in emergency management and rescue
Universal water surface movable robot platform.
Background technology
On the soil of 9,600,000 square kilometres of China, being dispersed with many rivers, wherein drainage area is at 100 square kilometres
Above river just has 5,000 a plurality of, and size rivers and creeks, whole nation total length, can be around terrestrial equator 10 circle half more than 420,000 kilometers.Faced by
The vastest waters, by water resources development, utilize and protect for the purpose of river management, and to contingent flood and waterlog
The prevention of evil and rescue, be the most all a hot issue.If able to remotely control water surface robot platform to run (bag
Include igniting/flame-out, course, the speed of a ship or plane), it is possible to improve rescue efficiency to greatest extent, replace people to perform repeatability or danger
Task, effectively reduce personnel and property loss.Therefore Development of Universal type water surface movable robot platform has the biggest necessity
Property.
Utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of universal water surface movable robot platform, he
Can by a set of automatic control system (or remote controller) realize remote auto control (or remote control) water surface robot realize igniting/
Stop working, engine throttle size is increased or decreased, turns left or turn right.(automatically rescued by the different payload platform of outfit simultaneously
Help saving casting device, laser, visible ray, infrared sensor etc.) realize monitor surface, water life-saving, goods and materials pull, boats and ships are stopped and drag
Band and the construction of line etc..Feature of the present utility model is, it can substitute for the waterborne vessel of man-manageable system only carry out loaded down with trivial details,
Complicated, dangerous monitoring and search and rescue mission, thus promote tasks carrying efficiency, it is ensured that the safety of tasks carrying.
The purpose of this utility model is achieved through the following technical solutions: a kind of universal water surface movable robot puts down
Platform, including: boat-carrying controller and connected router, inertial navigation, data radio station, actuator；Described actuator is led to
Cross receiver to be connected with boat-carrying controller；Described actuator for carrying out the automatic point of steering wheel according to the order of boat-carrying controller
Fire/flame-out, direction controlling and the switching control of remote control.
Described actuator include switching switch A, switching switch B, switching steering wheel, ignition switch, flameout switch, igniting/
Flame-out steering wheel；Described switching steering wheel is located between switching switch A and switching switch B；Described ignition switch and flameout switch based on
Igniting/flame-out steering wheel is symmetrical；Described igniting/flame-out steering wheel is connected with receiver.
Described switching switch A be arranged in parallel with switching switch B；Hanging down between switching switch A swing arm and switching switch B swing arm
Straight distance is equal to the length of switching steering wheel swing arm.
Described switching switch A and switching switch B is single-pole double throw switching switch.
Described ignition switch and flameout switch are symmetrically set in igniting/flame-out steering wheel axis of symmetry both sides, and are parallel to each other；Igniting
Vertical dimension between switch swing arm and flameout switch swing arm is the half of igniting/flame-out steering wheel pendulum arm length.
Described ignition switch and flameout switch are single-pole single-throw(SPST switching switch.
A kind of universal water surface movable robot platform, also includes throttle steering wheel；The swing arm of throttle steering wheel connects throttle and opens
Amount bracing wire；Throttle is connected with receiver.
A kind of universal water surface movable robot platform, also includes direction steering wheel, is connected with receiver；Direction steering wheel swing arm
Plane of movement vertical with the plane of movement of throttle steering wheel swing arm.
Described boat-carrying controller is connected with saving casting device also by receiver.
A kind of universal water surface movable robot platform, also includes remote controller.
Advantage of the present utility model with good effect is:
1. this utility model has the function of remotely control.Can realize remotely controlling water surface robot by actuator
Realization is lighted a fire/is stopped working, engine throttle size is increased or decreased, turns left or turn right.
2. there is manual/auto handoff functionality.Water surface movable robot of the present utility model is in case of emergency, changeable
For manual mode, by manual rocker control.
3. there is communicating interrupt jerk defencive function.Water surface movable robot platform in this utility model is in communicating interrupt
After 2 seconds, by onboard control system auto extinguishing, thus avoid occurring after earth station system with onboard control system communicating interrupt
Incontrollable accidents.
4. there is a key make a return voyage function.Water surface movable robot platform in this utility model completes corresponding task
After, send a key in earth station and make a return voyage instruction, it is possible to achieve a key makes a return voyage.
5. modularized design, it is easy to extension.Water surface movable robot platform of the present utility model, either hardware or soft
Part has all carried out modularized processing, separate between modules, convenient extension.
Accompanying drawing explanation
Fig. 1 is platform structure schematic diagram of the present utility model；
Fig. 2 a is actuator machine drawing of the present utility model；
The A directional profile figure of Fig. 2 b Fig. 2 a；
Fig. 3 is platform schematic wiring diagram of the present utility model；
Wherein: 1-glass fiber hull, 2-power supply, 3-router, 4-boat-carrying controller, 5-GPS antenna, 6-inertial navigation, 7-number
Conduct electricity platform, 8-actuator, 9-casing, 10-engine throttle steering wheel, 11-engine throttle steering wheel swing arm, 12-jackscrew, 13-
Direction steering wheel, the steering wheel swing arm of 14-direction, 15-single-pole single-throw(SPST ignition switch, 16-single-pole single-throw(SPST flameout switch, 17-igniting/flame-out
Steering wheel, 18-lights a fire/stops working steering wheel swing arm, and 19-single-pole double throw switching switch A, 20-single-pole double throw switching switch B, 21-select to open
Closing steering wheel, 22-selects switch steering wheel swing arm.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings.
Platform Machinery structure: as it is shown in figure 1, this utility model frame for movement includes glass fiber hull 1, power supply 2, router
3, boat-carrying controller 4, gps antenna 5, inertial navigation 6, data radio station 7, actuator 8 are formed.Wherein router 3 is adopted for reception
The three-dimensional map data of collection, is also used as system debug boat-carrying controller and uses.Boat-carrying controller 4 is made up of 4 modules, including
Communication module, control module, navigation module, mission mode handover module, it can make remote control personnel by data radio station 7
When being necessary, water surface movable robot is performed such as igniting, extinguishing, adjusts and run course and the speed of a ship or plane, control task execution
Mechanisms etc. operate, simultaneously the internal state (including course, the speed of a ship or plane etc.) of Real-time Feedback robot and external environmental information (barrier
Deng) give earth station, and tasks carrying situation can be carried out in-depth monitoring and tracking.
As shown in Fig. 2 a, Fig. 2 b, actuator 8 includes that casing 9, engine throttle steering wheel 10, engine throttle steering wheel are put
Arm 11, jackscrew 12, direction steering wheel 13, direction steering wheel swing arm 14, ignition switch 15, flameout switch 16, igniting/flame-out steering wheel 17,
Igniting/flame-out steering wheel swing arm 18, switching switch A19, switching switch B20, switching steering wheel 21, switching steering wheel swing arm 22.
Switching switch A19 is parallel to each other with switching switch B20, and both are center pair with switching steering wheel swing arm 22 center of rotation
Claim, and the length that the vertical interval between both swing arms is switching steering wheel swing arm 22.When switching steering wheel swing arm 22 rotates to and cuts
Changing switch A19 and switching switch B20 when being parallel to each other, switching switch A19 is off-state with switching switch B20；When switching rudder
Machine swing arm 22 rotate to switch switch A19 and switching switch B20 be mutually perpendicular to time, switching switch A19 with switch switch B20 be
Closure state.
Ignition switch 15 is parallel to each other with flameout switch 16, and both and igniting/flame-out steering wheel swing arm 18 initial position are (with rudder
Machine longitudinal axis parallel) axisymmetricly, and two that the vertical interval between both swing arms is igniting/flame-out steering wheel swing arm 18 length
/ mono-.When igniting/flame-out steering wheel swing arm 18 rotates 10 °～30 ° counterclockwise from initial position, ignition switch 15 is in Guan Bi
State, keeps about 3 seconds time can complete igniting；When igniting/flame-out steering wheel swing arm 18 turn clockwise 10 °～30 ° time, put out
Fire switch 16 is in closure state, keeps about 3 seconds time can complete to stop working.
Engine throttle steering wheel swing arm 11 connects engine throttle opening amount bracing wire, engine throttle steering wheel swing arm 11 initial
Position is longitudinally asymmetric with engine throttle steering wheel 10.When engine throttle steering wheel swing arm 11 is in initial position (with steering wheel longitudinally
Axis is parallel) time, engine throttle opening amount is minimum state；When engine throttle steering wheel swing arm 11 rotates 60 ° counterclockwise, send out
Motivation throttle opening amount is maximum rating.
The initial position (with steering wheel longitudinal axis parallel) of direction steering wheel swing arm 14 is parallel with casing 9 short transverse.The side of working as
When steering wheel swing arm 14 rotates 40 ° counterclockwise, the water spraying direction of robot platform rotates 40 ° counterclockwise, thus realizes robot
Platform counterclockwise movement；Direction steering wheel swing arm 14 turn clockwise 40 ° time, the water spraying direction of robot platform turns clockwise
40 °, thus realize robot platform clockwise movement.
Platform wiring philosophy: as it is shown on figure 3, the system structure of platform uses modularized design.Including: direction steering wheel, point
Fire/flame-out steering wheel, engine throttle steering wheel, selection switch steering wheel, 2 single-pole double throws select switch, saving casting device, receiver, PWM
Signal, inertial navigation, wireless routing, MDS data radio station, PC/104 controller, voltage stabilization plate, PCM3780 board, deconcentrator.Wherein,
PC/104 controller, voltage stabilization plate, PCM3780 board constitute boat-carrying controller.
Bottom actuator rudder steering wheel 13, igniting/flame-out steering wheel 17, engine throttle steering wheel 10, saving casting device steering wheel
Switch 19 and single-pole double throw is selected to select switch B20 switching pwm signal to originate by single-pole double throw.Signal PWM is leaded up to and is connect
Receipts machine produce, lead up to Based PC/104 bus board PCM3780 Timer/Counter produce.Selected by single-pole double throw
Selecting switch A19 and single-pole double throw selects switch B20 to switch remote manual/automatically control, and wherein the signal of Non-follow control is from distant
Control device, the control signal automatically controlled is from boat-carrying controller 4.Single-pole double throw selects switch A19 for toggle ground plane station with distant
Control device controls engine throttle and direction, and single-pole double throw selects switch B20 to control to light a fire/put out with remote controller for toggle ground plane station
Fire is jettisoninged with saving casting device.Direction steering wheel 13, is used for controlling water spraying direction, and span of control is ± 40 °, attainable minimum turning half
Footpath is 1.38 meters；Engine throttle steering wheel 10, is used for controlling engine throttle opening amount；Igniting/flame-out steering wheel 17, sends out for control
Motivation igniting is with flame-out.
Operation principle of the present utility model is:
This utility model uses hydraulic jet propulsion mode to produce powered robot and travels forward.Divide four kinds of control models,
MANUAL CONTROL mode (course, engine throttle are given by remote controller), Heading control pattern (control course, engine throttle hands
Dynamic be given), full Autonomous Control (course and the speed of a ship or plane are given by earth station), track points control model is (according to the boat that earth station is selected
Mark point moves, and engine throttle is given by earth station).Below as a example by full Autonomous Control pattern with MANUAL CONTROL mode
Illustrate.
If control model is full autonomous mode, then first passes through remote controller and send control signal control selection switch steering wheel pendulum
Arm 22 rotates to be parallel to each other with single-pole double throw switching switch B20 with single-pole double throw switching switch A19, and now dpdt double-pole double-throw (DPDT) switching is opened
Close A19 and single-pole double throw switching switch B20 to be off so that direction steering wheel 13, engine throttle steering wheel 10, light a fire/
The control signal of flame-out steering wheel 17 comes from the signal of boat-carrying controller 4, it is achieved thereby that the signal of actuator 8 is by ground
Stand and be given by data radio station 7.Then it is set to full Autonomous Control pattern in earth station, earth station is pressed by data radio station 7
According to the agreement specified, desired course, the speed of a ship or plane are issued boat-carrying controller 4 with controller parameter.If earth station and boat-carrying controller 4
Between communication beyond effective communication scope or data make a mistake or packet loss, then boat-carrying controller 4 will be unable to normally receive or
Resolving the control instruction of earth station, now the timestamp of the packet of system will keep constant.If the timestamp of packet with
The difference of system timestamp was more than 2 seconds, then boat-carrying control 4 sends flame-out instruction.If boat-carrying controller 4 can normally receive earth station
Packet, then the course measured according to current inertial navigation 6 by boat-carrying controller 4, the speed of a ship or plane and desired course, that the speed of a ship or plane carries out closed loop is anti-
Feedback obtains direction steering wheel 13, the output valve of engine throttle steering wheel 10.Then by boat-carrying controller 4, output valve is converted into phase
Answer PWM to measure, board PCM3780 be sent to direction steering wheel 13, engine throttle steering wheel 10, control direction steering wheel swing arm 14, send out
Motivation throttle steering wheel swing arm 11 rotates corresponding angle.If the course of water surface robot is more than actual heading, make rudder the most to the left,
Otherwise to the right；If the speed of a ship or plane of water surface robot is more than speed over ground, then reduces throttle opening amount, otherwise strengthen.Finally by tune
Whole rudder and throttle opening amount achieve the course of water surface robot and control with the speed of a ship or plane.
Make a return voyage pattern if control model is a key, then first pass through remote controller and be set to ground station control, operational approach with
Full autonomous mode.Then it is set to a key in earth station make a return voyage pattern, by earth station by data radio station 7 according to the agreement specified
Gps coordinate point, the expectation speed of a ship or plane are issued boat-carrying controller 4 with controller parameter.If boat-carrying controller 4 can normally receive earth station
Packet, then the gps coordinate point measured according to gps coordinate point and current inertial navigation 6 by boat-carrying controller 4 calculates desired course.
Course, the speed of a ship or plane measured according to current inertial navigation 6 by boat-carrying controller 4 carry out closed loop feedback with desired course, the speed of a ship or plane and obtain again
Direction steering wheel 13, the output valve of engine throttle steering wheel 10.Finally by boat-carrying controller 4, output valve changed into corresponding PWM
Ripple exports to actuator, the control it is achieved thereby that a key of water surface robot makes a return voyage.
If control model is manual mode, in remote controller, first it is set as manual mode, remote controller sends control
Instruction, makes selection switch steering wheel 21 drive and selects switch steering wheel swing arm 22 to rotate to the position perpendicular with switching switch A19, B20
Putting, now switching switch A19, B20 just close, so that direction steering wheel 13, engine throttle steering wheel 10, igniting/flame-out
The control signal of steering wheel 17 comes from the signal of remote controller, finally achieves the Non-follow control of remote controller.
Claims (10)
1. a universal water surface movable robot platform, it is characterised in that including: boat-carrying controller (4) and connected
Router (3), inertial navigation (6), data radio station (7), actuator (8)；Described actuator (8) is controlled with boat-carrying by receiver
Device (4) connects；Described actuator for carrying out automatic ignition/flame-out, the direction of steering wheel according to the order of boat-carrying controller (4)
Control and the switching control of remote control.
2. the one universal water surface movable robot platform as described in claim 1, it is characterised in that described actuator (8)
Including switching switch A (19), switching switch B (20), switching steering wheel (21), ignition switch (15), flameout switch (16), igniting/
Flame-out steering wheel (17)；Described switching steering wheel (21) is located between switching switch A (19) and switching switch B (20)；Described igniting is opened
Close (15) with flameout switch (16) based on igniting/flame-out steering wheel (17) symmetry；Described igniting/flame-out steering wheel (17) is with receiver even
Connect.
3. the one universal water surface movable robot platform as described in claim 2, it is characterised in that described switching switch A
(19) it be arranged in parallel with switching switch B (20)；Switching switch A (19) swing arm switch with switching between B (20) swing arm vertical away from
From the length equal to switching steering wheel (21) swing arm (22).
4. the one universal water surface movable robot platform as described in Claims 2 or 3, it is characterised in that described switching switchs
A (19) and switching switch B (20) are single-pole double throw switching switch.
5. the one universal water surface movable robot platform as described in claim 2, it is characterised in that described ignition switch
(15) it is symmetrically set in igniting/flame-out steering wheel (17) axis of symmetry both sides with flameout switch (16), and is parallel to each other；Ignition switch (15)
Vertical dimension between swing arm and flameout switch (16) swing arm is the half of igniting/flame-out steering wheel (17) swing arm (18) length.
6. the one universal water surface movable robot platform as described in claim 2 or 5, it is characterised in that described ignition switch
(15) with flameout switch (16) it is single-pole single-throw(SPST switching switch.
7. the one universal water surface movable robot platform as described in claim 2, it is characterised in that also include throttle steering wheel
(10)；The swing arm (11) of throttle steering wheel (10) connects throttle opening amount bracing wire；Throttle is connected with receiver.
8. the one universal water surface movable robot platform as described in claim 2, it is characterised in that also include direction steering wheel
(13), it is connected with receiver；The plane of movement of direction steering wheel (13) swing arm (14) and the motion of throttle steering wheel (10) swing arm (11)
Plane is vertical.
9. the one universal water surface movable robot platform as described in claim 1, it is characterised in that described boat-carrying controller
(4) it is connected with saving casting device also by receiver.
10. the one universal water surface movable robot platform as described in claim 1, it is characterised in that also include remote controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620541231.8U CN205665531U (en) | 2016-06-03 | 2016-06-03 | General type surface of water mobile robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620541231.8U CN205665531U (en) | 2016-06-03 | 2016-06-03 | General type surface of water mobile robot platform |
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| Publication Number | Publication Date |
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| CN205665531U true CN205665531U (en) | 2016-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620541231.8U Active CN205665531U (en) | 2016-06-03 | 2016-06-03 | General type surface of water mobile robot platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107463109A (en) * | 2016-06-03 | 2017-12-12 | 中国科学院沈阳自动化研究所 | A kind of universal water surface movable robot platform |
-
2016
- 2016-06-03 CN CN201620541231.8U patent/CN205665531U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107463109A (en) * | 2016-06-03 | 2017-12-12 | 中国科学院沈阳自动化研究所 | A kind of universal water surface movable robot platform |
| CN107463109B (en) * | 2016-06-03 | 2023-11-14 | 中国科学院沈阳自动化研究所 | General type surface of water mobile robot platform |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |