CN209870707U - Multifunctional universal remote control unmanned submersible platform - Google Patents
Multifunctional universal remote control unmanned submersible platform Download PDFInfo
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- CN209870707U CN209870707U CN201920578673.3U CN201920578673U CN209870707U CN 209870707 U CN209870707 U CN 209870707U CN 201920578673 U CN201920578673 U CN 201920578673U CN 209870707 U CN209870707 U CN 209870707U
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Abstract
The utility model provides a multifunctional universal remote control unmanned submersible platform, which comprises a control cabin, a propeller module and a power supply cabin; the control cabin is connected with an external ground station system through a cable; the control cabin obtains a remote control command through the ground station system to control the submersible platform to work, and transmits data back to the ground station platform through a cable; the utility model discloses can dock with the host computer of ground station system, can carry out the secondary development, the commonality is strong.
Description
Technical Field
The utility model belongs to the technical field of unmanned underwater vehicle technique and specifically relates to an unmanned underwater vehicle platform of multi-functional general remote control.
Background
With the vigorous development of marine industry in China, underwater robots are more and more concerned and valued by the nation and various scientific research institutions. Compared with the observation and development of manpower to the ocean, the remote control unmanned submersible is safer, the acquired information is richer, the adaptability to the environment is far higher than that of the human, the observation and development range of the ocean is wider, and the most critical part of the underwater robot is an electronic cabin part which contains a control system, an information acquisition system and a communication system. However, most of the existing underwater robots are not provided with an upper computer, and have the problems of single function, incapability of secondary development and the like.
Disclosure of Invention
The utility model provides a multi-functional general remote control unmanned submersible platform can dock with the host computer of ground station system, can carry out secondary development, and the commonality is strong.
The utility model adopts the following technical scheme.
A multi-functional universal remote-controlled unmanned submersible platform comprising a control pod (3021), a propeller module, and a power pod (1011); the control cabin is connected with an external ground station system through a cable; the control cabin obtains remote control instructions through the ground station system to control the submersible platform to work, and data are transmitted back to the ground station platform through the cable.
A raspberry pi assembly (403) is arranged in the control cabin; the cable connecting the control cabin and the ground station system is a zero-buoyancy cable; the raspberry pi assembly is connected with the ground station system through the Ethernet.
The raspberry pi assembly is connected with a flight control module (401) in a USB mode, and the flight control module is loaded with firmware suitable for the submersible platform; the flight control module can control the propeller module; the raspberry pi assembly is connected with the ground station system through an Ethernet which is established by power carrier communication; the ground station system is connected with a power carrier module (407) in the control cabin through a zero-buoyancy cable.
The thruster module comprises four thrusters (301); the four propellers are distributed in the same plane at the submersible platform according to the circumference; the thrust output directions of adjacent propellers are crossed with each other to form an angle of 45 degrees.
The four propellers are respectively arranged at the lower parts of the four buoyancy block brackets (30); the four buoyancy block supports are arranged between the vertical supporting baffles (20) on the two sides of the bottom plate (10); a first fixing ring (40) and a second fixing ring (302) which are semicircular are arranged between the adjacent buoyancy block brackets from bottom to top; and a plurality of module mounting holes are formed in the bottom plate and the supporting baffle.
A power supply cabin is arranged on the first fixing ring; a lithium battery is arranged in the power supply cabin; the second fixing ring is provided with a control cabin.
A searchlight (201) is arranged at the position of the supporting baffle; the propeller adjacent to the supporting baffle is arranged in the middle of the supporting baffle and is vertical to the supporting baffle; the bottom plate is formed by stainless steel materials.
An electronic cabin supporting frame (40) is arranged in the control cabin; a pan-tilt camera (409) is fixed on the front side of the electronic cabin support frame; the cloud deck camera is respectively connected with the raspberry pi module and the flight control module;
a voltage stabilizing module (408) is arranged on the back of the electronic cabin supporting frame; the power output end of the lithium battery in the power supply cabin is connected to the flat cable plugs (406) arranged on the front and the back of the electronic cabin supporting frame through the voltage stabilizing module; the flat cable is connected with a depth sensor, a propeller module and a UBEC module (404) in a plugging way; the UBEC module is connected with a GPIO port of the raspberry pi module to supply power to the raspberry pi module; a Pixhawk bracket (402) for mounting a flight control module is arranged above the raspberry pi module; the power carrier module (407) is arranged on the back face of the electronic cabin supporting plate, and the power carrier module is respectively connected with the flat cable plug, the raspberry pi module and the zero-buoyancy cable.
The raspberry pi component comprises a raspberry pi 3B; the flight control module is an automatic pilot based on Pixhawk flight control; the autopilot is connected to a leak sensor (405) in the control cabin; when the water leakage phenomenon is generated in the control cabin, the automatic pilot controls the propeller module to carry out self-protection of the unmanned submersible.
The application method adopts the unmanned submersible of the universal remote control unmanned submersible platform, the ground station system is an upper computer, and the application method comprises the following methods;
a1, the ground station system realizes manual control on the unmanned submersible platform through QGC control software and an Xbox360 handle, and the unmanned submersible platform is driven to a specified place to observe a target;
a2, hanging a mechanical arm at a module mounting hole of the unmanned submersible platform, sending the unmanned submersible platform to a damaged part of a ship, and repairing the ship by matching the mechanical arm with a camera shooting function of a pan-tilt camera so as to reduce manpower, reduce cost and improve safety factor;
a3, compiling an underwater target recognition drive packet under a Linux system of a ground station system, calling an OpenCV library by a raspberry group component, and acquiring underwater target images for multiple times by a pan-tilt camera to complete training and realize simple underwater target recognition; by means of the underwater target recognition function, the unmanned submersible can be placed in a marine culture base to play a monitoring role; the Python script can be created by using Pymavrink to read sensor data, write commands and send the commands to the Ardusub tool, the written commands are used for calling the flight control assembly through the raspberry dispatching assembly, autonomous navigation of the unmanned submersible can be achieved, and the optimal path for reaching the target position is calculated through a path planning algorithm; the target recognition and autonomous navigation functions of the unmanned submersible are combined, and autonomous monitoring of the marine product culture base can be realized;
a4, connecting the unmanned submersible with an upper computer on the ground through a zero buoyancy cable, communicating the upper computer with a raspberry group 3B of a lower computer through an Xbox360 handle and QGround Control software, connecting and communicating the raspberry group 3B of the lower computer with a Pixhawk autopilot through a USB port, and driving a motor to operate to realize the motions of speed regulation, advancing, backing, lifting, suspension and the like by a Control signal of the upper computer through the Pixhawk autopilot to a corresponding driving signal and a PWM signal of a propeller;
a5, Ardusub firmware is loaded on the Pixhawk autopilot, and a Python script can be created by using Pymavlik to read sensor data and send commands to a command processing tool of the Ardusub firmware, so that command control of the motion of the unmanned submersible vehicle is realized.
The utility model discloses following beneficial effect has: the utility model discloses compact structure, the framework is stable, can conveniently carry out the design of robot and the interpolation of module as required, realizes the secondary development, and the commonality is strong, for follow-up mutual sending and receiving of accomplishing data, realizes multiple functions such as the environment observation under water, target detection under water, route planning.
Drawings
The invention will be described in further detail with reference to the following drawings and detailed description:
FIG. 1 is a schematic diagram of the present invention;
fig. 2 is an internal schematic view of the control cabin of the present invention;
fig. 3 is another schematic internal view of the control pod of the present invention;
FIG. 4 is a schematic diagram of the present invention;
in the figure: 10-a base plate; 101-a first retaining ring; 1011-power supply cabin;
20-a support baffle; 201-searchlight;
30-a buoyancy block support; 301-a propeller; 302-a second retaining ring; 3021-control cabin; 303-a buoyancy block cover;
40-an electronic cabin support frame; 401-flight control module; 402-Pixhawk stent; 403-raspberry pi component; 404-UBEC module; 405-a leak sensor; 406-flat cable insertion; 407-power carrier module; 408-a voltage stabilizing module; 409-pan-tilt camera.
Detailed Description
1-4, a multi-functional universal remote-controlled unmanned submersible platform, comprising a control pod 3021, a propeller module, and a power pod 1011; the control cabin is connected with an external ground station system through a cable; the control cabin obtains remote control instructions through the ground station system to control the submersible platform to work, and data are transmitted back to the ground station platform through the cable.
A raspberry pi assembly 403 is arranged in the control cabin; the cable connecting the control cabin and the ground station system is a zero-buoyancy cable; the raspberry pi assembly is connected with the ground station system through the Ethernet.
The raspberry pi component is connected with a flight control module 401 in a USB mode, and the flight control module is loaded with firmware suitable for the submersible platform; the flight control module can control the propeller module; the raspberry pi assembly is connected with the ground station system through an Ethernet which is established by power carrier communication; the ground station system is connected to a power carrier module 407 in the control cabin via a zero-buoyancy cable.
The thruster module comprises four thrusters 301; the four propellers are distributed in the same plane at the submersible platform according to the circumference; the thrust output directions of adjacent propellers are crossed with each other to form an angle of 45 degrees.
The four propellers are respectively arranged at the lower parts of the four buoyancy block brackets 30; the four buoyancy block brackets are arranged between the vertical supporting baffles 20 on the two sides of the bottom plate 10; a first fixing ring 101 and a second fixing ring 302 which are semicircular are arranged between the adjacent buoyancy block brackets from bottom to top; and a plurality of module mounting holes are formed in the bottom plate and the supporting baffle.
A power supply cabin is arranged on the first fixing ring; a lithium battery is arranged in the power supply cabin; the second fixing ring is provided with a control cabin.
A searchlight 201 is arranged at the position of the supporting baffle; the propeller adjacent to the supporting baffle is arranged in the middle of the supporting baffle and is vertical to the supporting baffle; the bottom plate is formed by stainless steel materials.
An electronic cabin supporting frame 40 is arranged in the control cabin; a pan-tilt camera 409 is fixed on the front side of the electronic cabin support frame; the cloud deck camera is respectively connected with the raspberry pi module and the flight control module;
the back of the electronic cabin supporting frame is provided with a voltage stabilizing module 408; the power output end of the lithium battery in the power supply cabin is connected to the flat cable plugs 406 arranged on the front and the back of the electronic cabin supporting frame through the voltage stabilizing module; the flat cable is connected with a depth sensor, a propeller module and a UBEC module 404 in an inserting way; the UBEC module is connected with a GPIO port of the raspberry pi module to supply power to the raspberry pi module; a Pixhawk bracket 402 for mounting a flight control module is arranged above the raspberry pi module; the power carrier module 407 is arranged on the back of the electronic cabin supporting plate, and the power carrier module is respectively connected with the flat cable plug, the raspberry pi module and the zero-buoyancy cable.
The raspberry pi component comprises a raspberry pi 3B; the flight control module is an automatic pilot based on Pixhawk flight control; the autopilot is connected to a leak sensor 405 in the control cabin; when the water leakage phenomenon is generated in the control cabin, the automatic pilot controls the propeller module to carry out self-protection of the unmanned submersible.
The application method adopts the unmanned submersible of the universal remote control unmanned submersible platform, the ground station system is an upper computer, and the application method comprises the following methods;
a1, the ground station system realizes manual control on the unmanned submersible platform through QGC control software and an Xbox360 handle, and the unmanned submersible platform is driven to a specified place to observe a target;
a2, hanging a mechanical arm at a module mounting hole of the unmanned submersible platform, sending the unmanned submersible platform to a damaged part of a ship, and repairing the ship by matching the mechanical arm with a camera shooting function of a pan-tilt camera so as to reduce manpower, reduce cost and improve safety factor;
a3, compiling an underwater target recognition drive packet under a Linux system of a ground station system, calling an OpenCV library by a raspberry group component, and acquiring underwater target images for multiple times by a pan-tilt camera to complete training and realize simple underwater target recognition; by means of the underwater target recognition function, the unmanned submersible can be placed in a marine culture base to play a monitoring role; the Python script can be created by using Pymavrink to read sensor data, write commands and send the commands to the Ardusub tool, the written commands are used for calling the flight control assembly through the raspberry dispatching assembly, autonomous navigation of the unmanned submersible can be achieved, and the optimal path for reaching the target position is calculated through a path planning algorithm; the target recognition and autonomous navigation functions of the unmanned submersible are combined, and autonomous monitoring of the marine product culture base can be realized;
a4, connecting the unmanned submersible with an upper computer on the ground through a zero buoyancy cable, communicating the upper computer with a raspberry group 3B of a lower computer through an Xbox360 handle and QGround Control software, connecting and communicating the raspberry group 3B of the lower computer with a Pixhawk autopilot through a USB port, and driving a motor to operate to realize the motions of speed regulation, advancing, backing, lifting, suspension and the like by a Control signal of the upper computer through the Pixhawk autopilot to a corresponding driving signal and a PWM signal of a propeller;
a5, Ardusub firmware is loaded on the Pixhawk autopilot, and a Python script can be created by using Pymavlik to read sensor data and send commands to a command processing tool of the Ardusub firmware, so that command control of the motion of the unmanned submersible vehicle is realized.
Preferably, a buoyancy block cover 303 is arranged at the buoyancy block bracket.
When the control cabin leaks water, in order to prevent damage from increasing, the autopilot controls the propeller module, so that the submersible can quickly and automatically float upwards and return to the sea, and the self-protection of the unmanned submersible is realized.
In the above embodiments, the supporting baffle, the buoyancy block bracket, the searchlight, the propeller and the buoyancy block cover are mirror images or are arranged in parallel, so that only a single mark is shown in the figure.
In addition, terms used in any one of the technical aspects of the present disclosure to indicate positional relationships or shapes include, unless otherwise stated, states or shapes similar, analogous or close thereto.
The utility model provides an arbitrary part both can be assembled by a plurality of solitary component parts and form, also can be the solitary part that the integrative forming process made out.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.
Claims (9)
1. A multifunctional universal remote control unmanned submersible platform is characterized in that: the submersible platform comprises a control cabin (3021), a propeller module, and a power cabin (1011); the control cabin is connected with an external ground station system through a cable; the control cabin obtains remote control instructions through the ground station system to control the submersible platform to work, and data are transmitted back to the ground station platform through the cable.
2. The multifunctional universal remote unmanned submersible platform of claim 1, wherein: a raspberry pi assembly (403) is arranged in the control cabin; the cable connecting the control cabin and the ground station system is a zero-buoyancy cable; the raspberry pi assembly is connected with the ground station system through the Ethernet.
3. The multifunctional universal remote unmanned submersible platform of claim 2, wherein: the raspberry pi assembly is connected with a flight control module (401) in a USB mode, and the flight control module is loaded with firmware suitable for the submersible platform; the flight control module can control the propeller module; the raspberry pi assembly is connected with the ground station system through an Ethernet which is established by power carrier communication; the ground station system is connected with a power carrier module (407) in the control cabin through a zero-buoyancy cable.
4. The multifunctional universal remote unmanned submersible platform of claim 3, wherein: the thruster module comprises four thrusters (301); the four propellers are distributed in the same plane at the submersible platform according to the circumference; the thrust output directions of adjacent propellers are crossed with each other to form an angle of 45 degrees.
5. The multifunctional universal remote unmanned submersible platform of claim 4, wherein: the four propellers are respectively arranged at the lower parts of the four buoyancy block brackets (30); the four buoyancy block supports are arranged between the vertical supporting baffles (20) on the two sides of the bottom plate (10); a first fixing ring (101) and a second fixing ring (302) which are semicircular are arranged between the adjacent buoyancy block brackets from bottom to top; and a plurality of module mounting holes are formed in the bottom plate and the supporting baffle.
6. The multifunctional universal remote unmanned submersible platform of claim 5, wherein: a power supply cabin is arranged on the first fixing ring; a lithium battery is arranged in the power supply cabin; the second fixing ring is provided with a control cabin.
7. The multifunctional universal remote unmanned submersible platform of claim 5, wherein: a searchlight (201) is arranged at the position of the supporting baffle; the propeller adjacent to the supporting baffle is arranged in the middle of the supporting baffle and is vertical to the supporting baffle; the bottom plate is formed by stainless steel materials.
8. The multifunctional universal remote unmanned submersible platform of claim 7, wherein: an electronic cabin supporting frame (40) is arranged in the control cabin; a pan-tilt camera (409) is fixed on the front side of the electronic cabin support frame; the cloud deck camera is respectively connected with the raspberry pi module and the flight control module;
a voltage stabilizing module (408) is arranged on the back of the electronic cabin supporting frame; the power output end of the lithium battery in the power supply cabin is connected to the flat cable plugs (406) arranged on the front and the back of the electronic cabin supporting frame through the voltage stabilizing module; the flat cable is connected with a depth sensor, a propeller module and a UBEC module (404) in a plugging way; the UBEC module is connected with a GPIO port of the raspberry pi module to supply power to the raspberry pi module; a Pixhawk bracket (402) for mounting a flight control module is arranged above the raspberry pi module; the power carrier module (407) is arranged on the back face of the electronic cabin supporting plate, and the power carrier module is respectively connected with the flat cable plug, the raspberry pi module and the zero-buoyancy cable.
9. The multifunctional universal remote unmanned submersible platform of claim 8, wherein: the raspberry pi component comprises a raspberry pi 3B; the flight control module is an automatic pilot based on Pixhawk flight control; the autopilot is connected to a leak sensor (405) in the control cabin; when the water leakage phenomenon is generated in the control cabin, the automatic pilot controls the propeller module to carry out self-protection of the unmanned submersible.
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| CN201920578673.3U CN209870707U (en) | 2019-04-25 | 2019-04-25 | Multifunctional universal remote control unmanned submersible platform |
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| CN201920578673.3U CN209870707U (en) | 2019-04-25 | 2019-04-25 | Multifunctional universal remote control unmanned submersible platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941412A (en) * | 2019-04-25 | 2019-06-28 | 福州大学 | A kind of multi-functional universal remote control unmanned submersible platform and its application method |
| CN111252218A (en) * | 2020-01-20 | 2020-06-09 | 江苏科技大学 | A monitoring sampling underwater robot for ocean or inland river lake |
-
2019
- 2019-04-25 CN CN201920578673.3U patent/CN209870707U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941412A (en) * | 2019-04-25 | 2019-06-28 | 福州大学 | A kind of multi-functional universal remote control unmanned submersible platform and its application method |
| CN109941412B (en) * | 2019-04-25 | 2024-02-09 | 福州大学 | Multifunctional universal remote control unmanned submersible platform and application method thereof |
| CN111252218A (en) * | 2020-01-20 | 2020-06-09 | 江苏科技大学 | A monitoring sampling underwater robot for ocean or inland river lake |
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