CN207360548U - The spherical underwater robot promoted based on vector - Google Patents
The spherical underwater robot promoted based on vector Download PDFInfo
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- CN207360548U CN207360548U CN201721469687.9U CN201721469687U CN207360548U CN 207360548 U CN207360548 U CN 207360548U CN 201721469687 U CN201721469687 U CN 201721469687U CN 207360548 U CN207360548 U CN 207360548U
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- propeller
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Abstract
Provided by the utility model is a kind of spherical underwater robot promoted based on vector.Including spherical light shell, main body frame and pressure-resistant cabin inside light shell, control circuit inside pressure-resistant cabin, four propellers are disposed with the surrounding of the light shell, four rotation axis being evenly arranged according to centre of sphere circumferential direction are installed on main body frame, the propeller is fixed on the outer end of rotation axis, the other end connection propeller steering engine of rotation axis, the propeller is section's spy's ducted propeller, installation brushless electric machine inside propeller, the control circuit includes Master control chip, battery, voltage conversion chip, attitude transducer and optical transmitter and receiver, the logical watertight connector for setting the electric wire for optical fiber and control circuit to pass through on the end socket of pressure-resistant cabin, video camera is set respectively at the top and bottom of robot, bottom sets manipulator.The underwater robot of the utility model can quickly, flexibly, stablize navigation in water.
Description
Technical field
The utility model relates to a kind of latent device or underwater robot, specifically a kind of spherical underwater robot.
Background technology
With the development of science and technology, ocean role is increasingly taken seriously, the exploitation to ocean also has become China
Development strategy, wherein underwater robot can replace the mankind to perform many with visiting as a kind of important means of ocean development
The relevant task in ocean is surveyed, has increasingly obtained the attention of country.
Underwater robot has been commonly divided into cable underwater robot and cableless underwater robot.There is cable underwater robot maximum
The characteristics of be exactly the control that can accurately receive operator, and the various data that robot obtains can be returned in real time, thus
To being widely applied very much.Wherein spherical underwater robot has the characteristics that full symmetric, in shape with isotropism, i.e.,
All directions meet the form of incoming identical, have in-depth study value.
The type selecting of underwater robot depends on its specifically being completed for task.Domestic aspect, Recent Years in Beijing University of Post and Telecommunication
Sun Hanxu, Lan Xiaojuan et al. and the Guo Shuxiang etc. of Harbin Engineering University per capita spherical underwater robot is unfolded to study.
External aspect, the robot ODIN of University of Hawaii's development, the robot URIS of Uni de Girona of Spain development, Britain are graceful thorough
This especially big robot MK V and MK VI for learning development, is with the spherical underwater robot for light shell.
Above-mentioned underwater per capita be use conventional propulsion mode, can substantially be summarized as it is following some：First, spherical
Perforate on light shell, uses hydraulic jet propulsion；Second, movement is realized by the rotating of propeller using a small amount of propeller；Third,
Different movements is realized using more propellers.But the equal Shortcomings of above-mentioned three kinds of situations, summary can be divided into following several：One
It is that underwater robot flexibility is restricted, i.e., can not completes the movement of whole frees degree；Second, propeller is fixed then to change
The situation of propeller reversion certainly will be occurred by becoming navigation direction, and the thrust size of propeller reversion is smaller very than rotating forward thrust
It is more, easily influence headway or stability；Third, although flexibility can be increased to a certain extent using more propellers,
But more spaces are also occupied, add the cost of robot, and can not also ensure that propeller is in rotating forward state all the time；Four
It is that robot does not have the adjusting method of closed-loop control so as to can not ensure the steady of navigation.
The content of the invention
It is good based on the spherical underwater of vector propulsion the purpose of this utility model is to provide a kind of maneuverability and stability
Robot.
What the purpose of this utility model was realized in：
Including spherical light shell, the main body frame inside light shell and pressure-resistant cabin, inside pressure-resistant cabin
Control circuit, four propellers are disposed with the surrounding of the light shell, and four are installed on main body frame according to centre of sphere circumferential direction
The rotation axis being evenly arranged, the propeller are fixed on the outer end of rotation axis, the other end connection propeller steering engine of rotation axis, institute
It is section's spy's ducted propeller to state propeller, and brushless electric machine is installed inside propeller, and the control circuit includes Master control chip, electricity
Pond, voltage conversion chip, attitude transducer and optical transmitter and receiver, set on the end socket of pressure-resistant cabin the electric wire for optical fiber and control circuit to lead to
The logical watertight connector crossed, sets video camera, bottom to set manipulator respectively at the top and bottom of robot.
The utility model can also include：
1st, optical fiber connect two optical transmitter and receivers realize it is waterborne and underwater between communication, the optical transmitter and receiver has 2 road cameras
Interface, 1 tunnel, 485 interface and network interface all the way, the part under water of the optical transmitter and receiver convert vision signal and network signal
For optical signal, optical signal is transmitted by the optical fiber；Optical signal is decoded as video letter by the above water of the optical transmitter and receiver
Number and network signal, and vision signal is transmitted to computer using video frequency collection card.
2nd, manipulator is arranged in bottom camera both sides.
The utility model is according to requirement of the underwater robot to maneuverability, stability, there is provided one kind is promoted based on vector
Spherical underwater robot.The artificial remote underwater robot of the machine, i.e. ROV, technical characteristics include：The shape of robot
To be spherical, i.e., it is used as light shell using spherical shell.Light shell surrounding have four can around the rotating propeller of axis by the centre of sphere,
Propeller uses section's spy's ducted propeller, inside installation brushless electric machine, and propeller is fixed with axis, the other end connection hydroflap of axis
Machine, the light shell inside are the main body frame and pressure-resistant cabin of underwater robot, are the underwater machine of control inside the pressure-resistant cabin
The various electronic components of device people, including Master control chip, battery, decompression chip, attitude transducer, optical transmitter and receiver etc..Pressure-resistant cabin
End socket pass through the electric wire of optical fiber and electronic component by watertight connector.Video camera is placed respectively at the top and bottom of robot,
Place manipulator in robot bottom.
Decompression chip is placed in power management module integrated circuit, and for the voltage of regulating cell, decompression chip can incite somebody to action
The voltage output of battery is the different size of voltages such as 3.3V, 5V, 12V, and then to the Master control chip, brushless electric machine, light
The power elements such as terminal, attitude transducer.
The attitude transducer can make the real time data of operator's read machine people's posture, by it is artificial or independently and
The boat state of underwater robot described in Shi Xiugai.
The underwater robot using optical fiber connect two optical transmitter and receivers realize it is waterborne and underwater between communication, the light end
Machine has 2 road utilizing camera interfaces, 1 tunnel, 485 interface and network interface all the way, for connecting the camera, the optical transmitter and receiver
Vision signal and network signal are converted into optical signal by part under water, and optical signal is transmitted by the optical fiber, the light
Optical signal is decoded as vision signal and network signal by the above water of terminal, and is transmitted to vision signal using video frequency collection card
Computer.
The upper and lower part of the underwater robot is respectively arranged a video camera, observation and machinery during for navigating by water
The operation of hand.
The underwater robot propeller uses section's spy's ducted propeller, unlike common propeller outside propeller
Face is provided with a kuppe, and then reduces the loss of energy, improves propulsive efficiency.
The underwater robot uses brushless electric machine, the brushless electric machine using can rotating brush DC electricity transfer in capable control
System, the 12V DC electricity input electricity, which is adjusted, can be converted into three-phase alternating current so as to drive the brushless electric machine, by exchanging 3
Any two of root line realize the rotating of motor.By Master control chip to electricity tune input pwm signal control rotating and
Rotating speed.Control signal is the square-wave signal that frequency 50Hz high level times are 1-2ms.When wherein high level time is 1.5ms
The motor does not turn, and less than 1.5ms when inverts, and the time, smaller speed reversal was bigger, and more than 1.5ms when rotates forward, high level time
Longer rotating speed is faster.
The underwater robot realizes that vector promotes by steering engine, and it is 50Hz that the steering engine, which receives signal frequency, wherein high
Level time is 1-2ms, rotation angle and the linear change of high level time.Before installation, the first letter to the steering engine 1.5ms
Number, it is rotated to median location, change the steering engine corner further according to the duty cycle of Regulate signal is needed.
The requires of the utility model its with good maneuverability, stability.Require：Complete the boat of space six-freedom degree
OK, including X-axis, the movement and rotation of Y-axis, Z axis；The navigation that can stablize suspends in water.The utility model is ROV, institute
With being completed in view of it for task, the utility model is using spherical shell as its light shell, and four propellers are around centre of sphere circumferential direction cloth
Put, with the centre of sphere on the same line, and propeller is substantially equal to sphere partly to centre of sphere distance for the center of every group of opposite propeller
Footpath, in this way, compared to the underwater robot of long strip type, spherical underwater robot radius of gyration with smaller when turning.And
Due to the isotropic in shape, incoming suffered by surrounding is equal to be conducive to stability, and all components outside pressure-resistant cabin are according to ball
The heart is arranged symmetrically, and space is enough in pressure-resistant cabin, and electronic component volume is smaller, can be by the simple of positions of electronic parts
Adjust, make centre of buoyancy and metancenter in same vertical curve, and can ensure that centre of buoyancy is higher than metancenter more than 7 centimetres.The utility model is by vector
Propeller applies to spherical underwater robot, and the navigation of the different frees degree is completed using four propellers.Using attitude transducer
Make decisions on one's own, advancing, retreat, move to left, moving to right under four kinds of states, it is ensured that depth-keeping navigation, and the operation that can suspend.
Brief description of the drawings
Fig. 1 is the surface structure schematic diagram of the utility model；
Fig. 2 is the utility model internal structure schematic diagram in the case where hiding light shell；
Fig. 3 is the schematic diagram that the utility model does forward travel；
Fig. 4 is the schematic diagram that the utility model does setback；
Fig. 5 is the schematic diagram that the utility model moves to left movement；
Fig. 6 is the schematic diagram that the utility model moves to right movement；
Fig. 7 is the schematic diagram that the utility model does left-lateral movement；
Fig. 8 is the schematic diagram that the utility model does dextral motion；
Fig. 9 is the schematic diagram that the utility model does movement of floating；
Figure 10 is the schematic diagram that the utility model does sunken caves；
Figure 11 is the utility model pressure-resistant cabin internal circuit control principle drawing；
Figure 12 is pressure-resistant hatchcover front schematic view；
Figure 13 is pressure-resistant hatchcover schematic rear view.
Embodiment
Illustrate below and the utility model is described in more detail.
With reference to Fig. 1, Fig. 2, Figure 12 and Figure 13, in the spherical underwater promoted based on vector of the utility model, 1 is machine
Tool hand fixture, 2 is make component cable connect the hole reserved inside pressure-resistant cabin, and 3 be fiber optic cable, and 4 be top side camera, and 5 be water
Lower robot light shell, 6 be underwater robot horizontal skeleton, and 7 be pressure-resistant cabin, and 8 be bottom camera, and 9 be bearing, and 10 be underwater
Robot longitudinal framework, 11 is connect the axis of propeller, and 12 is realize the steering engine of vector propulsion, and 13 be heavy-handed for balancing machine
Amount and the container of loadings counterweight designed, the steering engine of 14 robot movements in order to control, 15 is make the steering engine of manipulator fixture opening and closing,
16 groove to place O-ring and being set in pressure-resistant hatchcover, 17 be waterproof connector, and 18 be pressure-resistant hatchcover, and 19 be positioned at underwater
The propeller at people rear portion, 20 be the propeller on the left of underwater robot, and 21 be the propeller positioned at underwater robot front portion,
22 be propeller on the right side of underwater robot, the steering engine of 23 robot movements in order to control, 24 robot movements in order to control
Steering engine, 25 is carry the platform of manipulator and video camera, and 26 be the steering engine for making robot movement.
The spherical underwater robot promoted based on vector of the utility model uses modularized design, in pressure-resistant hatchcover 18
The watertight connector of uniform sizes is devised, the equipment that difference in functionality can be installed.The underwater robot uses spherical light shell,
Four propellers not only may act as promoting mainly but also may act as to hang down pushing away, and circumferentially disposed according to the centre of sphere.
The vector principle of propeller of the underwater robot of the utility model is：Operator provides instruction first, and signal is by described
Optical transmitter and receiver reaches under water from waterborne, is finally transmitted to Master control chip, Master control chip sends instruction, and order steering engine 12 goes to phase
Position, the steering engine connecting shaft 11 are answered, bearing 9 is then used to support the axis 11, and 11 other end of axis connects propeller 19, makes
The propeller turns to relevant position.
Propeller posture under difference boat state is as follows：
Such as attached drawing 3, when the underwater robot advances, the propeller 20,22 with right side on the left of robot is in work
Make state, the propeller 19,21 of front and rear is in the depth-keeping navigation that vertical state is used to ensure the robot.
Such as attached drawing 4, when the underwater robot retreats, the propeller 20,22 with right side on the left of robot is in work
Make state, and posture is opposite with the posture under forward travel state.Other propellers are then identical with the posture under forward travel state.
Such as attached drawing 5, when the underwater robot moves to left, the propeller 19,21 positioned at robot front and rear is in work
Make state, the propeller 20,22 on left side and right side is in the depth-keeping navigation that vertical state is used to ensure the robot.
Such as attached drawing 6, when the underwater robot moves to right, the propeller 19,21 positioned at robot front and rear is in work
Make state, and posture is opposite with the posture under the state of moving to left.Other propellers are then identical with the posture under the state of moving to left.
Such as attached drawing 7, when the underwater robot is left-handed, all propellers work, and posture is as shown in fig. 7, robot is done
Left-lateral movement around center.
Such as attached drawing 8, during the underwater robot dextrorotation, all propellers work, and posture is as shown in figure 8, robot is done
Dextral motion around center.
Such as attached drawing 9, when the underwater robot floats, all propellers work and are arranged vertically, posture such as Fig. 9 institutes
Show, robot does floating movement.
Such as attached drawing 10, when the underwater robot sinks, all propellers work and are arranged vertically, posture such as Figure 10 institutes
Show, robot does sunken caves.
Differ greatly since the propeller of ducted propeller rotates and reverse the thrust produced under two states, that is, rotate forward and push away
Power is more than reversion.In the utility model, except the propeller when ensureing depth-keeping navigation and suspended state with rotating forward and instead
Turn two kinds of situations.Under other institutes are stateful, the propeller of propeller is to rotate forward, and can so ensure all Hang Taixia robots
It can ensure the thrust of maximum.
The underwater robot circuit control principle figure such as attached drawing 11 of the utility model.
Master control chip, optical transmitter and receiver, attitude transducer, battery and voltage reduction module are housed in the pressure-resistant cabin 7 of underwater robot.
When the robot navigation is in the waters of current complexity, the attitude transducer return robot real navigation path with it is pre-
Determine the deviation of navigation path, i.e.,：The head that the attitude transducer can obtain underwater robot in real time shakes, heel, the angle of trim
Degree and angular acceleration, then the data for making Master control chip be measured according to attitude transducer by writing program calculate the machine
People navigates in real time state and speed and sends instruction, is then on the one hand back to by optical cable 3 data waterborne, makes operating personnel timely
Make decisions, on the other hand the propeller being communicated to for ensureing the underwater robot longitudinal stability will be instructed, so as to protect
Demonstrate,prove the function such as depthkeeping constant speed navigation, hovering operation.
Underwater robot buoyancy adjustment is mainly by arranging counterweight or buoyancy material.The light shell 5 and the pressure-resistant cabin
There are enough space layout counterweights or buoyancy material between 7, when arrangement, makes buoyancy be equal to gravity as far as possible, but since error can not be kept away
Exempt from, and influenced be subject to water density change, if buoyancy can not accurately meet to be equal to gravity, buoyancy is slightly larger than gravity.
During depthkeeping state：The underwater robot is in advancing, retreat, moving to left and moving to right four kinds of states, such as attached drawing 3, attached
Shown in Fig. 4, attached drawing 5 and attached drawing 6, under every kind of boat state, all at least two propellers are in vertical state.When the robot is held
The depth-keeping navigation of row a direction is rear (general 1 to 2 second) for a period of time, and the attitude transducer can record current data, master control
Coremaking sector-meeting obtains the attitude data of the robot afterwards, analysis deviation, so that vertical state using this data as standard
Propeller make decisions, ensure the depth-keeping navigation of the robot.
During suspended state：Operator assigns buy stop order, and the underwater robot suspends in water, but because gravity with
It is not essentially equal between buoyancy, so the attitude transducer is still in working status, described in the Master control chip analysis
The data that attitude transducer obtains, i.e. actual posture (float or sinking) are compared with predetermined posture (suspension) pair, and then described in making
Propeller makes decisions, and the propeller uses corresponding strategy at this time, and adjusts to vertical state, i.e., shape described in attached drawing 10
State, produces downward or upward thrust, enables the robot stable suspersion and operation in water.
Underwater robot uses two video cameras：Superposed video camera 4 is used to observe direction of advance, another is located at
The video camera 8 of lower part, for observing manipulator handling situations.Concrete condition is：The shooting head-tail connection supply lines and letter
Number line (i.e. BNC extended lines), the BNC extended lines other end connection BNC turn AV connectors, for convert a signal into AV signals into
And received by video frequency collection card, the video frequency collection card other end is USB joint, can be directly connected to computer, in the underwater
Under people's working status, operator can by underwater robot forward travel state picture described in computer (or display screen) Real Time Observation and
The picture of the robot work state.
The manipulator of underwater robot is installed on the underwater robot bottom platform 25.Steering engine 14, steering engine 23, steering engine
24th, steering engine 26 is used for realization the movement of manipulator all directions, and steering engine 15 is used to make manipulator opening and closing with fixture 1.
The pressure-resistant hatchcover 18 of 7 end of pressure-resistant cabin has watertight connector 17, and the watertight connector includes power cord and letter
Number line, (including cable, Serial Port Line etc.), when use, select different watertight connectors according to actual conditions.Wherein described pressure-resistant cabin
The face that lid 18 is engaged with pressure-resistant cabin need to set groove 16 to be used to place sealing ring.
The underwater robot of the utility model is mainly characterized in that：
1. robot body's shape is spherical, four propellers are circumferentially disposed according to the centre of sphere, and the power of propeller generation
Direction is disposed with waterproof steering engine on straight line where propeller center and the centre of sphere, the robot interior skeleton all the time, and
Vector is used for realization by axis connection and propeller to promote, the robot interior is disposed with pressure-resistant cabin, master control is provided with cabin
Coremaking piece, attitude transducer, battery, decompression chip, electron speed regulator and optical transmitter and receiver, the robot body, which is additionally provided with, to be taken the photograph
Camera and manipulator.
2. spherical shape has an isotropism in terms of resistance, and the opposite propeller of each two with the robot
On the same line, compared to strip underwater robot, spherical underwater robot is when turning with shorter revolution at center
Radius.
3. the data provided using Master control chip analysis attitude transducer, are made the robot in advance, retreated, left
Move, move to right under four kinds of states, there are two propellers to provide thrust makes robot be navigated by water to respective direction, two other vertical arrangement
The thrust that propeller is used to produce up or down is used for compensating the robot caused by gravity and buoyancy are unequal
Acceleration up or down, and work as suspension job state, four propellers are that vertical state is used for realization the outstanding of robot
It is floating.
4. video camera is two, the top and bottom with the robot is respectively arranged, for observing direction of advance situation
With manipulator handling situations, manipulator is arranged in bottom camera both sides.
Claims (2)
1. a kind of spherical underwater robot promoted based on vector, including spherical light shell, the main body inside light shell
Frame and pressure-resistant cabin, the control circuit inside pressure-resistant cabin, it is characterized in that：Four are disposed with the surrounding of the light shell
Propeller, installs four rotation axis being evenly arranged according to centre of sphere circumferential direction on main body frame, and the propeller is fixed on rotation
The outer end of axis, the other end connection propeller steering engine of rotation axis, the propeller is section's spy's ducted propeller, is pacified inside propeller
Brushless electric machine is filled, the control circuit includes Master control chip, battery, voltage conversion chip, attitude transducer and optical transmitter and receiver, resistance to
The logical watertight connector for setting the electric wire for optical fiber and control circuit to pass through on the end socket of ballasting, at the top and bottom of robot respectively
Set video camera, bottom that manipulator is set.
2. the spherical underwater robot according to claim 1 promoted based on vector, it is characterized in that：Manipulator is arranged in bottom
Portion video camera both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201721469687.9U CN207360548U (en) | 2017-11-07 | 2017-11-07 | The spherical underwater robot promoted based on vector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721469687.9U CN207360548U (en) | 2017-11-07 | 2017-11-07 | The spherical underwater robot promoted based on vector |
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| CN207360548U true CN207360548U (en) | 2018-05-15 |
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ID=62346240
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN108528668A (en) * | 2018-06-05 | 2018-09-14 | 吉林大学 | A kind of multi power source underwater robot |
| CN109050838A (en) * | 2018-08-16 | 2018-12-21 | 浙江大学 | The underwater helicopter promoted based on vector |
| CN109353482A (en) * | 2018-08-31 | 2019-02-19 | 杭州电子科技大学 | A kind of propeller and underwater robot |
| CN109398648A (en) * | 2018-10-15 | 2019-03-01 | 哈尔滨工程大学 | A kind of manipulator for underwater mating |
| CN112660345A (en) * | 2021-01-05 | 2021-04-16 | 重庆文高科技有限公司 | Six-degree-of-freedom underwater detection robot |
| CN114194366A (en) * | 2021-12-17 | 2022-03-18 | 中国地质大学（武汉） | Underwater self-balancing commercial aircraft and shell structure thereof |
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2017
- 2017-11-07 CN CN201721469687.9U patent/CN207360548U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN108528668A (en) * | 2018-06-05 | 2018-09-14 | 吉林大学 | A kind of multi power source underwater robot |
| CN109050838A (en) * | 2018-08-16 | 2018-12-21 | 浙江大学 | The underwater helicopter promoted based on vector |
| CN109353482A (en) * | 2018-08-31 | 2019-02-19 | 杭州电子科技大学 | A kind of propeller and underwater robot |
| CN109398648A (en) * | 2018-10-15 | 2019-03-01 | 哈尔滨工程大学 | A kind of manipulator for underwater mating |
| CN109398648B (en) * | 2018-10-15 | 2020-12-25 | 哈尔滨工程大学 | Manipulator for underwater butt joint |
| CN112660345A (en) * | 2021-01-05 | 2021-04-16 | 重庆文高科技有限公司 | Six-degree-of-freedom underwater detection robot |
| CN114194366A (en) * | 2021-12-17 | 2022-03-18 | 中国地质大学（武汉） | Underwater self-balancing commercial aircraft and shell structure thereof |
| CN114194366B (en) * | 2021-12-17 | 2023-01-03 | 中国地质大学（武汉） | Underwater self-balancing commercial aircraft and shell structure thereof |
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