CN206249096U - A kind of underwater robot - Google Patents
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- CN206249096U CN206249096U CN201621328918.XU CN201621328918U CN206249096U CN 206249096 U CN206249096 U CN 206249096U CN 201621328918 U CN201621328918 U CN 201621328918U CN 206249096 U CN206249096 U CN 206249096U
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a kind of underwater robot, including, controller, drive module, communication module, attitude acquisition module and sonar module, drive module, communication module, attitude acquisition module and sonar module are connected with controller, the attitude data that the sailing instructions and/or attitude acquisition module that the controller is received according to communication module are obtained, the navigation attitude of unmanned boat is adjusted using drive module, the controller detects biological information and/or terrain information using sonar module.The detection of the depth of water, the shoal of fish, geology, landform can be carried out using sonar, and the information for obtaining will be detected that user is intuitively presented to by way of image.
Description
Technical field
The utility model belongs to robot field, specifically, is related to a kind of underwater robot.
Background technology
Underwater robot is also referred to as unmanned diving under water device, and it is a kind of dress that can complete certain task instead of people under water
Put, in shape more like a microminiature submarine, its own shape of underwater robot is designed according to underwater operation requirement,
Underwater robot is to concentrate many technologies such as artificial intelligence, the fusion of detection identification information, Based Intelligent Control, the system integration to answer
For same underwater carrier, in nobody's industry control system, or manually carry out under semiautomatic control, complete geology, landform etc.
Detection.
Current underwater robot can be realized taking photo by plane under water with landform, the detection of geology etc., and the application of civilian aspect is also
Very limited, at present in addition to the unmanned boat as recreational use, demand of the unmanned boat in commercial market for going fishing is more next
It is bigger, therefore propose higher and higher requirement for fishing unmanned boat.
The detection of the depth of water, the shoal of fish, geology, landform how is carried out using sonar, and the information for obtaining will be detected by image
Mode be intuitively presented to user, as technical problem urgently to be resolved hurrily at present.
In view of this it is special to propose the utility model.
The content of the invention
The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art, there is provided a kind of underwater robot,
The detection of the depth of water, the shoal of fish, geology, landform can be carried out using sonar, and it is straight by way of image to detect the information for obtaining
Sight is presented to user.
In order to solve the above technical problems, the utility model is using the basic conception of technical scheme：
The utility model proposes a kind of underwater robot, including, controller, drive module, communication module, attitude are obtained
Module and sonar module, drive module, communication module, attitude acquisition module and sonar module are connected with controller, the control
The attitude data that the sailing instructions and/or attitude acquisition module that device processed is received according to communication module are obtained, using drive module
The navigation attitude of unmanned boat is adjusted, the controller detects biological information and/or terrain information using sonar module.
Preferably, the sonar module sends sound wave to specific direction, and receives the sound wave feedback signal for feeding back, excellent
Selection of land, sound wave feedback signal is filtered and feeds back to controller with after A/D conversion process.
Preferably, also include, the feedback time according to the sound wave feedback signal, the decay being connected with the communication module are by force
Degree determines the depth of water in waters, the size of the shoal of fish, the control end waterborne of the depth of water residing for the shoal of fish residing for unmanned boat under water.
Preferably, the controller control sonar module carries out seeking fish, and determines target water, and profit according to fish result is sought
Unmanned boat under water is driven to navigate by water to target water with drive module.
Preferably, the sonar module is the collection that the sound wave for converting different frequency according to the hobby of different fish carries out fish gathering
Fish sound.
Preferably, sonar module is moved by the sonar data conversion for detecting different depth under water into two dimensional image, then process
At least two transducers to detect underwater 3 D image are constituted.
Preferably, control end is provided with the display screen of display 3-D view on the water, and, 3-D view can be divided into many
Individual image module, and judge the profile of each image module, each profile that is not all according to profile assigns different color letters
Breath, 3-D view is depicted as the pseudo- color element of coloured image.
Preferably, the attitude acquisition module is set on circuit boards, including, the detection equilibrium criterion of unmanned boat under water
Gyroscope, the magnetometer for detecting the accelerometer of the acceleration information of unmanned boat under water and detection bearing data.
The circuit board is provided with least two magnetometers, and at least two magnetometer overlaps to stack and places or with circuit
Plate is symmetricly set on circuit board both sides for symmetrical plane.
Preferably, the drive module includes, sets the vertical of the unmanned boat under water of unmanned boat center of gravity front adjustment under water
The vertical pusher of the motion in direction, it is respectively provided with the control of the unmanned boat two sides of tail under water advance of unmanned boat under water, retreats
With the horizontal propeller turned.
Preferably, the order that follows also including basis to mobile target obtains the positional information of mobile target, and controls to drive
Dynamic model block follows module to the intelligence that mobile target is followed.
After adopting the above technical scheme, the utility model has the advantages that compared with prior art.
Sonar module can according to sound wave feedback signal judge front scanning scope in the shoal of fish in fish quantity and
The size of fish, according to the quantity and size of each shoal of fish, unmanned boat automatically determines target water under water, it is automatic drive under water nobody
Ship navigation is opened fishing lamp and carries out fish gathering to target water, and will be carried the fish hook of fish food and be released, and can thus utilize water
The process that lower unmanned boat is gone fishing, and user can also be according to the sonar shown on remote control and/or mobile terminal
Scan image information, selects oneself to want the target water of fishing, and control unmanned boat under water to go to the target water to be fished
Fish.
Sonar module can send the sound wave of various different frequencies, because every kind of shoal of fish is different to the sensitive frequency of sound wave,
Therefore user can select oneself to want the sensitive sound of that fish for fishing, and sent by sonar module and to attract
A fish snapped at the bait for the fish.
Multiple sonar modules are moved and then the 3-D view in the waters in the range of motion scan can be just got,
One image of 3 D stereo of user can be thus presented to, and then improves the experience of user.
The azimuth information for detecting is calibrated by multiple magnetometers, then calibration result is detected as magnetometer
Final azimuth information result, and because circuit plate thickness is smaller, the deviation of the azimuth information of multiple magnetometer detections is smaller, enters
And make the final azimuth information obtained after being calibrated by multiple magnetometers more accurate.
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Accompanying drawing is further understood from, this practicality for providing as a part of the present utility model to of the present utility model
New schematic description and description is used to explain the utility model, but does not constitute to improper restriction of the present utility model.
Obviously, drawings in the following description are only some embodiments, to those skilled in the art, are not paying creation
Property work on the premise of, can also according to these accompanying drawings obtain other accompanying drawings.In the accompanying drawings：
Fig. 1 is the structured flowchart of one embodiment underwater robot of the present utility model；
Fig. 2 is the structured flowchart of another embodiment underwater robot of the present utility model；
Fig. 3 is the structured flowchart of another embodiment underwater robot of the present utility model；
Fig. 4 is the structured flowchart of further embodiment underwater robot of the present utility model.
It should be noted that these accompanying drawings and word description are not intended as limiting design of the present utility model by any way
Scope, but be that those skilled in the art illustrate concept of the present utility model by reference to specific embodiment.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described to the technical scheme in embodiment, and following examples are used to illustrate this
Utility model, but it is not limited to scope of the present utility model.
In description of the present utility model, it is necessary to explanation, term " on ", D score, "front", "rear", "left", "right",
The orientation or position relationship of the instruction such as " vertical ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
It is easy to description the utility model and simplifies description, there must be specifically side rather than the device or element for indicating or imply meaning
Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
, it is necessary to explanation, unless otherwise clearly defined and limited, term " is pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.
For the ordinary skill in the art, above-mentioned term specifically containing in the utility model can be understood with concrete condition
Justice.
In following embodiments, the similar density that unmanned boat under water is designed to averag density and water proximate seemingly, water
Annular seal space is provided with lower unmanned boat, the annular seal space has waterproof effect, can protect each electricity consumption module in annular seal space will not
Immersion, and then ensure the normal work of unmanned boat under water, and by the annular seal space and unmanned boat shell body and each portion under water
Cooperation between part makes unmanned boat under water reach with water proximate similar density seemingly, and then neutral buoyancy is realized in waters
Effect, can preferably adjust navigation direction and navigation attitude, in addition, being driven in no power by the unmanned boat under water of neutral buoyancy
During unmanned boat static can hover over water under water in the case of dynamic.
Embodiment one
As shown in figure 1, the utility model embodiment proposes a kind of underwater robot, including, controller 1, drive module
2nd, communication module 3, attitude acquisition module 4 and sonar module 5, drive module 2, communication module 3, attitude acquisition module 4 and sonar
Module 5 is connected with controller 1, and the sailing instructions and/or attitude that the controller 1 is received according to communication module 3 obtain mould
The attitude data that block 4 is obtained, the navigation attitude of unmanned boat is adjusted using drive module 2, and the controller 1 is using sonar module 5
Detection biological information and/or terrain information.
The control of the controller 1 drive module 2 drive unmanned boat under water carry out fish gathering, and/or seek fish, and/or fishing,
And/or observe the shoal of fish/underwater environment under water.Fish finding can be carried out using sonar, when a certain position fish is detected than comparatively dense, just
Unmanned boat under water can be driven to reach the position using drive module 2, then being hovered in the position, and open fishing lamp is collected
Fish, thus can using this under water unmanned boat gone fishing or fished.One fish is for example set on unmanned boat under water
Hook, puts fish food on fish hook, and such user can just wait fish quietly to rise to the bait, and unmanned boat returns to bank under water for control after a fish snapped at the bait
Side, user can just accept fish.In such manner, it is possible to the process for facilitating user to be gone fishing, makes whole fishing more interesting.
The sonar module 5 sends sound wave to specific direction, will be fed back after acoustic wave touch to barrier, the sound
Module 5 receives the sound wave feedback signal for feeding back, and sound wave feedback signal is filtered and is fed back with after A/D conversion process
To controller 1.Can be according to the distance of the feedback time disturbance in judgement thing of the sound wave feedback signal, and then according to multiple distance
After judgement, the shape of barrier is just can determine that, in addition to avoiding the interference of other sound waves of surrounding, it should by sound wave feedback letter
Number filtering process is first carried out, follow-up treatment work is then carried out again.
As shown in Fig. 2 also including, the control end waterborne 6 being connected with the communication module 3, the controller 1 is anti-by sound wave
Feedback signal is forwarded to control end waterborne 6 using communication module 3, control end waterborne 6 according to the feedback time of the sound wave feedback signal,
Decay intensity determines the depth of water in waters, the size of the shoal of fish, the depth of water residing for the shoal of fish residing for unmanned boat under water.Wherein, control end waterborne 6
Including, base station waterborne, remote control, mobile terminal (mobile phone, flat board, notebook etc.), communication module 3 passes through sound wave feedback signal
Wired mode is sent to base station waterborne, and the sound wave feedback signal is wirelessly sent to remote control by base station waterborne again
And/or mobile terminal, so, remote control and/or mobile terminal will be strong according to the feedback time of the sound wave feedback signal, decay
Degree determines the depth of water in waters, the size of the shoal of fish, the depth of water residing for the shoal of fish residing for unmanned boat under water, or base station waterborne is according to the sound wave
The feedback time of feedback signal, decay intensity determine the depth of water in waters, the size of the shoal of fish, water residing for the shoal of fish residing for unmanned boat under water
After depth, these information are wirelessly sent to remote control and/or mobile terminal, are shown on remote control and/or mobile terminal
Show.
Preferably, the control sonar of the controller 1 module 5 carries out seeking fish, and determines target water according to fish result is sought, and
Unmanned boat under water is driven to navigate by water to target water using drive module 2.
Sonar module 5 can according to sound wave feedback signal judge front scanning scope in the shoal of fish in fish quantity and
The size of fish, according to the quantity and size of each shoal of fish, unmanned boat automatically determines target water under water, it is automatic drive under water nobody
Ship navigation is opened fishing lamp and carries out fish gathering to target water, and will be carried the fish hook of fish food and be released, and can thus utilize water
The process that lower unmanned boat is gone fishing, and user can also be according to the sonar shown on remote control and/or mobile terminal
Scan image information, selects oneself to want the target water of fishing, and control unmanned boat under water to go to the target water to be fished
Fish.
Preferably, the controller 1 controls the sonar module 5 according to the sound of the hobby conversion different frequency of different fish
Ripple carries out fish gathering.
Sonar module 5 can send the sound wave of various different frequencies, because every kind of shoal of fish is different to the sensitive frequency of sound wave,
Therefore user can select oneself to want the sensitive sound of that fish for fishing, and sent by sonar module 5 and to attract
A fish snapped at the bait for the fish.
Preferably, sonar module 5 is made up of at least two transducers, different deep under water by least two transducer probes
The sonar data conversion of degree detects 3-D view under water into two dimensional image, then by mobile at least two transducers,
The display screen display 3-D view of control end waterborne；Unmanned boat sets one or more transducers under water, it is possible to use change
Energy device converts different power to convert the detection range and scope of unmanned boat under water, and one can be obtained by multiple transducers
The graph data of plane, then multiple transducers are following unmanned boat under water to move, and then get motion scan scope
The 3-D view in interior waters, can thus be presented to one image of 3 D stereo of user, and then improve the experience of user.
The control end waterborne 6 is provided with pseudo- color element, and 3-D view can be divided into multiple images module by pseudo- color element,
And judging the profile of each image module, each profile that is not all according to profile assigns different colouring informations, by graphics
As being depicted as coloured image.
Because the data that sonar module 5 is obtained are sonic data, in can only drawing out underwater environment according to sonic data
Each barrier shapes and sizes, color can not be got, in order to preferably experience to user, in control end set
Pseudo- color element, thus can be according to the profile information phase stored in the graph outline in each image module and database
Match somebody with somebody, then the corresponding color of the profile information of storage is imparted on the graph outline of the image module, can be thus sound
The 3-D view of detection assigns shades of colour, and (graph outline for for example getting is the shape of fish, just for the shape of the fish is assigned
Yellow is given, the shape of the fish in such 3-D view is exactly yellow, when user wants to observe the dynamic of fish, it is possible to only observed yellow
Color part just can be with), so facilitate user more intuitively to be observed.
The controller 1 control drive module 2 drive unmanned boat carry out fish gathering, and/or seek fish, and/or fishing, and/or
Observe the shoal of fish/underwater environment under water.In the above-mentioned technical solutions, the attitude data that attitude acquisition module 4 will can be obtained sends
To controller 1, controller 1 utilizes the Real-time Feedback of communication module 3 to control waterborne after the attitude data being carried out into calculating treatment
End processed 6, control end waterborne 6 is provided with display module and the navigation attitude of unmanned boat under water can be in real time shown into user, for
Underwater navigation of the user according to navigation gesture stability unmanned boat under water；
In addition, user can also be using remote control or mobile terminal with unmanned boat function under remote-controlled water controls water
The navigation direction of lower unmanned boat, the anglec of rotation or submerged depth etc., for example, user observes unmanned boat under water on a display screen
Also it is not reaching to the destination that user wants to be gone fishing, the forward speed of display screen display unmanned boat under water is slow, uses
Family just can using remote control or mobile phone control under water unmanned boat carry out accelerate move ahead, user can also be according to the actual need of oneself
Unmanned boat is controlled to complete to turn, turn around, rise, dive, the change function of the navigation attitude such as main body turning.
The attitude acquisition module 4 is set on circuit boards, including, gyroscope, accelerometer and magnetometer, the attitude
Data include, the equilibrium criterion of the unmanned boat under water of the gyroscope detection, the unmanned boat under water of accelerometer detection
Acceleration information and the bearing data of magnetometer detection.
The circuit board is provided with least two magnetometers, and at least two magnetometer overlaps to stack and places or with circuit
Plate is symmetricly set on circuit board both sides for symmetrical plane.
The azimuth information for detecting is calibrated by two magnetometers so, is then examined calibration result as magnetometer
The final azimuth information result surveyed, and because circuit plate thickness is smaller, two deviations of the azimuth information of magnetometer detection compared with
It is small, and then make the final azimuth information obtained after being calibrated by two magnetometers more accurate.And due to two magnetic strength
As long as it is mutually accrued that meter simply has the such controller of deviation to be carried out for vertical direction when calibration calculating is carried out in vertical direction
Calculating calibration just can be with, can reduce the amount of calculation of controller, and then accelerates computation rate, and also can improve under water nobody
The accuracy of ship orientation detection.
Also, two magnetometers can also be integrated into one, and then the deviation of two magnetometer detections is further subtracted
It is small, enable whole calibration algorithm more accurate, can thus improve the service behaviour of unmanned boat under water.
More than two magnetometers can also be on circuit boards set, the mutual school of multiple magnetometers can be thus utilized
Standard obtains significantly more efficient raising come the accuracy for making unmanned boat orientation detection under water.
In addition, two accelerometers can also be set on circuit boards, can thus be carried out using two accelerometers
Complementation correction, it is so corrected after the acceleration magnitude that obtains can be more accurate, and then improve the workability of unmanned boat under water
Energy.
Zero correction partially is carried out to the gyroscope, the controller 1 obtains balance number using the gyroscope after zero partially correction
According to, the acceleration information detected using the accelerometer calculates luffing speed ＆ angular velocity in roll, and by equilibrium criterion and pitching
Speed ＆ angular velocity in roll is combined the determination pitch attitude of unmanned boat and roll attitude under water.
In the above-mentioned technical solutions, because gyroscope can be influenceed by each structure or component on unmanned boat under water,
Or other situations, gyroscope detection equilibrium criterion have deviation, it is therefore desirable to first by gyroscope carry out zero partially correction, enter
And ensure the accuracy of detection of gyroscope, zero partially after the completion of correction, and gyroscope will obtain corresponding equilibrium criterion；
Then the luffing speed ＆ rolling speed for the equilibrium criterion being detected with accelerometer is combined, it is determined that under water without
(that is, unmanned boat is inclined under water for the current pitch attitude of people's ship (that is, the attitude in unmanned boat offset level face under water) and roll attitude
Move), for example, can determine skew navigation attitude of the unmanned boat in front, rear, left and right, upper and lower six orientation under water.
Zero correction and oval correction partially is carried out to the magnetometer, bearing data, institute are obtained using the magnetometer after correction
State controller 1 and be combined bearing data, equilibrium criterion and luffing speed ＆ angular velocity in roll and determine the current of unmanned boat under water
Navigation direction.
In the above-mentioned technical solutions, influenceed by environmental factor and magnetometer oneself factor, magnetometer is commonly present larger
Course angle error, in order to ensure the precision of magnetometer, first has to carry out magnetometer zero inclined correction and oval correction, then sharp again
With after correction magnetometer obtain under water unmanned boat bearing data (that is, obtain under water unmanned boat in the side of east, south, west, north four
The residing orientation in), and the luffing speed that will be obtained using gyroscope and accelerometer in the bearing data and such scheme
Angular velocity in roll is combined, and can further determine that the current flight direction of unmanned boat under water outlet.
The accelerometer carries out pose compensation, and the acceleration information removal gravity item of acquisition is obtained into duplicate removal afterwards accelerates
Degrees of data, the duplicate removal acceleration information of three axles to obtaining is integrated, and determines the current flight speed of unmanned boat under water.
The equilibrium criterion of gyroscope detection is unmanned boat reference frame and the under water rotation of unmanned boat body coordinate system under water
Body coordinate system is divided into three by torque battle array, the measured value of the accelerometer based on unmanned boat body coordinate system under water
Reference axis is x-axis, y-axis, z-axis, measured value inherently three axles；
Then, corresponding 3-axis acceleration data are obtained using the accelerometer, pose compensation is exactly 3-axis acceleration
Data are transformed into reference frame, due to having acceleration of gravity in the acceleration information of acquisition, accordingly, it would be desirable to gravity is added
Speed is removed, and finally the acceleration magnitude by three axles obtained after pose compensation and removal gravity is accumulated respectively
Point, it is known that unmanned boat current flight speed in three directions under water.
Wherein, the drive module 2 includes, the first motor driver, the second motor driver and the 3rd motor driver,
First motor driver and the second motor driver are symmetrical arranged the two sides of tail of unmanned boat under water, by described first
Motor driver and the second motor driver drive the displacement of the horizontal direction of unmanned boat under water, and the 3rd driver is arranged on
Unmanned boat center of gravity drives the displacement of the vertical direction of unmanned boat under water under water.
The controller 1 sends to control end waterborne 6 attitude data of reception by communication module 3, and using waterborne
Display screen in control end 6 is shown attitude data, it is preferable that in the mould of the display screen display unmanned boat under water
Type, and attitude data is intuitively shown by the model of the unmanned boat under water.
Attitude acquisition module 4 can obtain the current navigation attitude of unmanned boat under water, such as, headway (each axial direction,
The headway of all directions), the current pose (be in horizontally or diagonally or the attitude such as pitching) of unmanned boat under water, and by this
To controller 1, controller 1 is sent a little navigation attitude Real-time Feedbacks after these attitude datas are processed using communication module 3
Control end waterborne 6 (can be mobile phone, flat board, notebook, computer or remote control with display screen etc.) is given, when user starts
After to the control software of unmanned boat under water, the model of unmanned boat under water will be shown in the display screen on control terminal, under water
The attitude that unmanned boat is navigated by water under water can intuitively be presented to user by the model, and user can be seen under water by model
The appearance that unmanned boat is navigated by water under water, and four orientation in the model and all directions can be coordinated, such user is just
Navigation direction and residing attitude of the unmanned boat in water under water can be intuitively seen, and then the experience of user can be improved.
Current flight direction and current flight speed are sent to control end waterborne by the controller 1 by communication module 3
6；Preferably, the sailing instructions that control end waterborne 6 sends are sent to controller 1 by communication module 3, and the controller 1 ought
Preceding navigation direction, current flight speed and sailing instructions are combined the navigation appearance that control drive module 2 adjusts unmanned boat under water
State.In the above-mentioned technical solutions, the headway of unmanned boat under water can be fed back to control end waterborne 6, can be by numeral
Or the mode of figure shows, the navigation that such user just can be by headway with above-mentioned unmanned boat under water in water
Direction and residing attitude are combined, and then allow users to make more accurate control command, control unmanned boat under water
Navigation attitude.
The side-play amount of direction and goal headway, institute are navigated by water with target according to current flight direction and current flight speed
State controller 1 controls drive module 2 to correct the navigation attitude of unmanned boat under water automatically according to the side-play amount.In above-mentioned technical proposal
In, when user's control unmanned boat reaches the position of user's needs, or during in the attitude that user needs, unmanned boat may under water
Can be promoted by undercurrent under water, or the influence of shock of the shoal of fish and floating object etc. under water can deviate correct navigation attitude
(that is, target navigation attitude), such unmanned boat can control drive module 2 to be corrected automatically, the unmanned boat under water that will deviate from
It is corrected in correct navigation attitude, and then ensures the poised state of unmanned boat under water.
Embodiment two
As shown in figure 3, on the basis of above-described embodiment, also following module 7, the intelligence to follow module 7 including intelligence
Be connected with the controller 1, the controller 1 receive the transmission of communication module 3 to mobile target follow order after, obtain
The positional information of mobile target, and follow the mobile target of module 7 pairs to follow using intelligence.
In the above-mentioned technical solutions, when user is sent by remote control or mobile phone or other control ends to unmanned boat under water
To certain movement target (can be fish, people, underwater submarine or other objects that can be moved) follow order after, obtain first
The positional information of mobile target, locks to mobile target, then starts intelligence and follows module 7, controls unmanned boat pair under water
Mobile target is followed, wherein, mobile target can also be the shoal of fish.So, when user wants to observe certain fish or the shoal of fish
During animation, or when wanting to track some other underwater moving targets, it is possible to follow 7 pairs of movements of module using the intelligence
Target follow, and then convenient for users to use.
The controller 1 obtains the current distance of mobile target and unmanned boat under water, and follows module 7 to keep using intelligence
Current distance is tracked to mobile target；The intelligence follows module 7 to be connected with communication module 3, and the intelligence follows module 7
Receive communication module 3 transmission a key follow order after, the nearest mobile biology of unmanned boat under water of adjusting the distance is followed.
When user is in order to entertain, only wish to certain mobile object to surrounding and follow, user oneself does not have target again,
A key can just be started and follow order, so intelligence follow module 7 will the detection range nearest mobile biology of unmanned boat under water,
And followed movement biology as mobile target.
Embodiment three
As shown in figure 4, on the basis of the scheme of above-described embodiment, the also global location mould including being connected with controller 1
Block 8 can in real time obtain the positional information of unmanned boat under water.
The global positioning module 8 is GPS module or big dipper module, so can in real time know the position of the unmanned boat under water
Put, can so be tracked positioning to unmanned boat under water, can also facilitate user to find unmanned boat under water, brought just to user
Profit.
Example IV
The utility model embodiment proposes a kind of sonar control method of unmanned boat under water, and step includes：
S1, target water is detected using sonar module；
S2, the attitude data that position and attitude acquisition module according to target water obtain, water is driven using drive module
Lower unmanned boat reaches target water.
Preferably, the step S1 is specifically included：
SA, is set to target water by the most waters of sonar module detecting fish school quantity within a predetermined range；Or
SB, when sonar module detects the number of fish school of unmanned boat Its Adjacent Waters under water more than or equal to setting quantitative value,
Target water will be set in unmanned boat annex waters under water.
Preferably, the attitude data includes：The equilibrium criterion of gyroscope detection, the acceleration number of degrees of accelerometer detection
According to the bearing data that, magnetometer is detected；
The step S2 is specifically included：
S21, the pitching data and rolling data of unmanned boat under water are determined according to equilibrium criterion and acceleration information；
S22, pitching data, rolling data and bearing data are combined the current flight side for determining unmanned boat under water
To；
S23, the position according to current flight direction and target water determines side-play amount, and drive module is started according to side-play amount
The navigation direction of unmanned boat under water is adjusted, drives unmanned boat under water to reach target water.
In the above-mentioned technical solutions, the step S23 is specifically included：
Sa, calculates the pitching side-play amount of pitching data-bias equilbrium position, when pitching side-play amount is beyond setting pitching skew
During threshold value, start the vertical pusher in drive module, equilbrium position will be adjusted to by unmanned boat under water.
Or, Sb calculates the rolling side-play amount of rolling data-bias equilbrium position, when rolling side-play amount is beyond setting rolling
During offset threshold, equilbrium position will be adjusted to by unmanned boat under water using the vertical pusher and horizontal propeller in drive module.
Or, Sc, the azimuth deviation amount of computer azimuth data and target bearing, when azimuth deviation amount is inclined beyond setting orientation
When moving threshold value, start the horizontal propeller in drive module, target bearing will be adjusted to by unmanned boat under water.
Above-mentioned equilbrium position is to determine that equilbrium position is target water by the position of target water with target bearing
Residing depth plane, the target bearing is the distance of target water and unmanned boat under water, and centered on unmanned boat under water
The target water is located at unmanned boat orientation (East, West, South, North) angle under water.
The above is only preferred embodiment of the present utility model, not makees any formal to the utility model
Limitation, although the utility model is disclosed above with preferred embodiment, but is not limited to the utility model, it is any to be familiar with
The technical staff of this patent is not being departed from the range of technical solutions of the utility model, is done when using the technology contents of above-mentioned prompting
Go out a little change or be modified to the Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solutions of the utility model,
Any simple modification, equivalent variations and the modification made to above example according to technical spirit of the present utility model, still belong to
In the range of the utility model scheme.
Claims (10)
1. a kind of underwater robot, it is characterised in that including, controller, drive module, communication module, attitude acquisition module and
Sonar module, drive module, communication module, attitude acquisition module and sonar module are connected with controller, the controller root
The attitude data that the sailing instructions and/or attitude acquisition module received according to communication module are obtained, nothing is adjusted using drive module
The navigation attitude of people's ship, the controller detects biological information and/or terrain information using sonar module.
2. underwater robot according to claim 1, it is characterised in that the sonar module is to specific direction transmission sound
Ripple, and the sound wave feedback signal for feeding back is received, sound wave feedback signal is filtered and is fed back to after A/D conversion process
Controller.
3. underwater robot according to claim 2, it is characterised in that also include, the root being connected with the communication module
Determine the depth of water in waters, the size of the shoal of fish, fish residing for unmanned boat under water according to the feedback time of the sound wave feedback signal, decay intensity
The control end waterborne of the residing depth of water of group.
4. underwater robot according to claim 1, it is characterised in that the controller control sonar module is sought
Fish, and determine target water according to fish result is sought, and drive unmanned boat under water to navigate by water to target water using drive module.
5. underwater robot according to claim 1, it is characterised in that the sonar module is the happiness according to different fish
The sound wave of conversion different frequency carries out the fish gathering sonar of fish gathering well.
6. underwater robot according to claim 1, it is characterised in that sonar module is by detecting the sound of different depth under water
Data conversion is into two dimensional image, then at least two transducers composition that underwater 3 D image is detected by mobile.
7. underwater robot according to claim 1, it is characterised in that control end is provided with display 3-D view on the water
Display screen, and, 3-D view can be divided into multiple images module, and judge the profile of each image module, according to profile
Each profile that is not all assign different colouring informations, 3-D view is depicted as the pseudo- color element of coloured image.
8. underwater robot according to claim 1, it is characterised in that the attitude acquisition module is arranged on circuit board
On, including, the detection gyroscope of the equilibrium criterion of unmanned boat, the accelerometer of the detection acceleration information of unmanned boat under water under water
With the magnetometer of detection bearing data；
The circuit board is provided with least two magnetometers, and at least two magnetometer overlaps to stack and places or be with circuit board
Symmetrical plane is symmetricly set on circuit board both sides.
9. underwater robot according to claim 1, it is characterised in that the drive module includes, set under water without
People's ship center of gravity front adjustment under water the vertical pusher of the motion of the vertical direction of unmanned boat, be respectively provided with unmanned boat tail under water
The portion both sides control advance of unmanned boat under water, the horizontal propeller for retreating and turning.
10. underwater robot according to claim 1, it is characterised in that life also is followed to mobile target including basis
Order obtains the positional information of mobile target, and controls drive module to follow module to the intelligence that mobile target is followed.
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| CN201621328918.XU CN206249096U (en) | 2016-12-06 | 2016-12-06 | A kind of underwater robot |
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| CN201621328918.XU CN206249096U (en) | 2016-12-06 | 2016-12-06 | A kind of underwater robot |
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