CN212047837U - Novel super-power-driven underwater helicopter - Google Patents
Novel super-power-driven underwater helicopter Download PDFInfo
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- CN212047837U CN212047837U CN202020560644.7U CN202020560644U CN212047837U CN 212047837 U CN212047837 U CN 212047837U CN 202020560644 U CN202020560644 U CN 202020560644U CN 212047837 U CN212047837 U CN 212047837U
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Abstract
The utility model discloses a novel super motor-driven helicopter under water belongs to the robotechnology field, including upper hold, lower hold, deck plate, carousel, vector propulsion system, power supply unit spare, electronic governor, IMU inertial navigation system, wireless communication system, camera system and attitude control system under water. The high-energy-density lithium battery pack is selected as a complete machine to supply power, underwater precise positioning navigation is realized through inertial navigation, the pitch angle control of the underwater helicopter is realized through the attitude adjusting system, the direction of the propelling force is changed through the vector propelling system, the horizontal rotation performance and the vertical sinking and floating stability are good, and various movement and operation modes can be realized. The posture is adjusted in water, the rotary table motor rotates to enable the relative positions of the buoyancy block and the gravity block to be different, the posture of the underwater helicopter can be corrected by means of buoyancy and gravity, extra thrust compensation of the propeller is not needed, and underwater navigation under a certain attack angle can be achieved.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a novel super motor-driven helicopter under water.
Background
Until now, although the submersible vehicles which appear internationally are various in variety, the submersible vehicles lack high mobility and high efficiency in daily application. For example, a cable submersible (ROV), an Autonomous Underwater Vehicle (AUV), a manned submersible (HOV), an underwater Glider (Glider), etc., regardless of which type of submersible, the high maneuverability of underwater motion is always the guarantee of the high-efficiency operation of the submersible, and the improvement of the maneuverability of the submersible in operation is still one of the problems to be considered and solved at present due to the influence of the self structural design or the external environment change.
In addition, the existing underwater vehicle technology is difficult to have higher omnibearing flow resistance. In the current structural design of the submersible, two paddles are generally arranged in the advancing direction and one paddle is generally arranged in the lateral direction in order to improve the sailing speed and provide power for left and right steering of the submersible, so that the submersible has smaller lateral flow resisting capacity. In practical application environments, ocean currents are multidirectional, and therefore the submersible is required to have good all-directional anti-current capacity so as to deal with incoming current impact from all directions.
The submersible with the omnibearing anti-flow capability needs to have the capabilities of high maneuverability and high autonomous movement, and based on the problems and challenges, an underwater helicopter with the capabilities of high maneuverability and high autonomous operation to realize underwater high-efficiency work is urgently needed.
Disclosure of Invention
The utility model aims at serving the defect of current no cable Autonomous Underwater Vehicle (AUV) in mobility for the customer, a novel super mobile helicopter under water is proposed, this helicopter possesses attitude control system and vector propulsion system under water, this novel super mobile helicopter under water not only can realize remote control, realize surveing under water, can realize simultaneously vertical ups and downs, the straight line gos forward (depthkeeping), turn to all around, numerous functions such as fixed angle dive (climb), level dive (climb), be a quick, high-efficient, stable novel underwater robot.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a novel super-maneuvering underwater helicopter comprises an upper cabin, a lower cabin, a cabin disc, a turntable, a vector propulsion system, a power supply assembly, an electronic speed regulator, an IMU (inertial measurement Unit) inertial navigation system, a wireless communication system, an underwater camera system and an attitude adjustment system;
the upper cabin and the lower cabin are respectively and fixedly arranged on the upper side and the lower side of the cabin disc to form sealed cabins, the wireless communication system, the power supply assembly and the IMU inertial navigation system are positioned in the upper cabin of the sealed cabins, the electronic speed regulator and the underwater camera system are positioned in the lower cabin of the sealed cabins, the sealed cabins are arranged at the central position of the turntable, and the attitude adjusting system is arranged on the turntable; the rotary table comprises a rotary table outer ring and a rotary table inner ring which are respectively fixed on a ball bearing outer ring and a ball bearing inner ring, the rotary table outer ring is fixedly connected with the sealed cabin, the rotary table outer ring is also provided with a vector propulsion system consisting of four groups of vector propulsion components, and the four groups of vector propulsion components are uniformly distributed at intervals along the circumferential direction of the rotary table outer ring; the IMU inertial navigation system, the electronic speed regulator, the wireless communication system, the underwater camera system, the attitude adjustment system and the vector propulsion system are all powered by the power supply assembly, the IMU inertial navigation system is used for acquiring motion information of the underwater helicopter in real time, and the electronic speed regulator is used for generating control signals for the vector propulsion system and the attitude adjustment system according to the motion information of the underwater helicopter.
As the utility model discloses an preferred, upper hold and lower hold semicircular in shape.
As the utility model discloses a preferred, power supply unit include lithium cell group and power module, lithium cell group adjust output voltage and realize alternating current and direct current's conversion through power module.
As the optimization of the utility model, the inner ring of the turntable is an inner gear, the posture adjusting system comprises a turntable motor, an outer gear, a buoyancy block and a counterweight lead block, the turntable motor is fixed on the outer ring of the turntable, the output shaft of the turntable motor is in transmission connection with the outer gear, and the outer gear is meshed with the inner gear; the outer ring of the turntable and the inner ring of the turntable are respectively provided with two buoyancy blocks and two counterweight lead blocks, and the two buoyancy blocks and the two counterweight lead blocks are uniformly arranged in a staggered manner.
Preferably, the vector propulsion assembly comprises a steering engine fixing piece, a steering engine, a vector connecting piece and an underwater propeller; the steering engine is installed on the outer ring of the turntable through a steering engine fixing piece, and the underwater propeller is connected with the steering engine through a vector connecting piece.
As an optimization of the utility model, the turntable motor power line of the attitude adjusting system and the steering engine power line of the vector propulsion assembly are all connected into the sealed cabin through the threading bolt.
As the utility model discloses a preferred, IMU inertial navigation system include IMU sensor and main control chip, IMU sensor be used for acquireing the acceleration of helicopter under water, angular acceleration and geomagnetic field's numerical value, main control chip on the integrated kalman filter module that has, main control chip and IMU sensor signal connection.
As the utility model discloses a preferred, camera system under water include the camera and increase steady cloud platform, the camera fix on the deck plate through increasing steady cloud platform.
The control method of the novel super-power-driven underwater helicopter specifically comprises the following steps: during the navigation process of the underwater helicopter, acquiring the angular speed and the acceleration of the underwater helicopter in three directions of XYZ and the numerical value of a geomagnetic field at the position of the underwater helicopter in real time through an IMU inertial navigation system, outputting a control signal to an electronic speed regulator after Kalman filtering calculation, controlling the rotating speed and the direction of a turntable motor and a steering engine through the electronic speed regulator, driving a vector propulsion system to adjust the thrust and the propulsion direction through the steering engine, driving a turntable inner ring to rotate through a turntable motor, and adjusting the pitch angle of the underwater helicopter through an attitude adjustment system; and shooting underwater videos or images in real time through an underwater camera system and transmitting the underwater videos or images to a receiving station.
Further, the pitch angle size of the underwater helicopter is adjusted by the attitude adjusting system, which specifically comprises: the rotary table outer ring and the rotary table inner ring are respectively provided with two buoyancy blocks and two balance weight lead blocks, the two buoyancy blocks and the two balance weight lead blocks are uniformly arranged in a staggered mode, the rotary table inner ring is driven to rotate through a rotary table motor, the vector sum of the buoyancy vector superposition of the buoyancy blocks arranged on the rotary table inner ring and the rotary table outer ring and the gravity vector superposition of the balance weight lead blocks is used for adjusting the change of the underwater helicopter pitch angle, and the underwater helicopter sails in water at a fixed attack angle.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the utility model discloses the gesture governing system who carries on compares with traditional helicopter under water, utilizes the moment that produces behind the vector stack of moment of buoyancy and gravity, changes the gesture of helicopter under water, does not need extra propulsion moment compensation, and efficiency is higher, and the ability of cruising is strong, and its gesture is more difficult for receiving the wave and assaults and change, and stability is good.
(2) The utility model discloses a vector propulsion system changes underwater propulsor's direction of propulsion through waterproof steering wheel, can realize that four propellers are all up, realize the motion the same with four-axis unmanned aerial vehicle to realize the seabed and sit the end ability.
(3) The utility model discloses an IMU inertial navigation system can realize that the high accuracy fixed point cruises under water under the condition that does not have the GPS signal, has alleviateed manpower work, has improved efficiency.
(4) The utility model discloses an appearance adopts flying saucer shape, and the propeller is arranged and outer circumference, can realize 0 turning radius, and the navigation that can be more nimble in complicated waters possesses the ability of high freedom motion to realize more complicated underwater operation requirement.
(5) The utility model discloses an underwater camera system can acquire stable image and video under water, can transmit to the ground satellite station when the surface of water is voyaged, can provide supplementary vision and visual angle under water when artificial control, has improved the operation ability.
Drawings
Fig. 1 is a schematic structural view of a super maneuvering type underwater helicopter of the present invention;
fig. 2 is a schematic structural view of a super maneuvering type underwater helicopter of the present invention;
fig. 3 is a schematic structural diagram of the posture adjustment system of the present invention;
FIG. 4 is a schematic structural diagram of the vector propulsion system of the present invention;
fig. 5 is a schematic structural diagram of the IMU inertial navigation system of the present invention;
in the figure: the device comprises an upper cabin, a lower cabin, a cabin 3, a rotary disk inner ring, a rotary disk outer ring, a 6 vector propulsion system, a 6-1 steering engine fixing piece, a 6-2 steering engine, a 6-3 vector connecting piece, a 6-4 underwater propeller, a 7 lithium battery pack, an 8 power supply module, a 9 electronic speed regulator, a 10-1 IMU sensor, a 10-2 main control chip, a 11 wireless communication system, a 12 underwater camera system, a 12-1 camera, a 12-2 stability augmentation platform, a 13 threading bolt, a 14-1 rotary disk motor, a 14-2 external gear, a 14-3 first buoyancy block, a 14-4 second buoyancy block, a 14-5 third buoyancy block, a 14-6 fourth buoyancy block, a 14-7 first counterweight lead block, a 14-8 second counterweight lead block, a 14-9 third counterweight lead block and a 14-10 fourth counterweight lead block.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings. The utility model discloses in the technical characteristics of each embodiment under the prerequisite that does not conflict each other, all can carry out corresponding combination.
As shown in fig. 1 and 2, a novel super-power underwater helicopter comprises an upper cabin 1, a lower cabin 2, a cabin disc 3, a turntable, a vector propulsion system 6, a power supply assembly, an electronic speed regulator 9, an IMU inertial navigation system, a wireless communication system 11, an underwater camera system 12 and an attitude adjustment system;
the upper cabin 1 and the lower cabin 2 are semicircular and are respectively and fixedly arranged on the upper side and the lower side of the cabin disc 3 to form sealed cabins, the wireless communication system 11, the power supply assembly and the IMU inertial navigation system are positioned in the upper cabin of the sealed cabin, the electronic speed regulator 9, the wireless communication system 11 and the underwater camera system 12 are positioned in the lower cabin of the sealed cabin, the sealed cabin is arranged in the center of the turntable, and the posture adjusting system is arranged on the turntable; the rotary table comprises a rotary table outer ring 5 and a rotary table inner ring 4 which are respectively fixed on a ball bearing outer ring and a ball bearing inner ring and can rotate mutually, the rotary table outer ring 5 is fixedly connected with the sealed cabin, the rotary table outer ring 5 is also provided with a vector propulsion system 6 consisting of four groups of vector propulsion components, and the four groups of vector propulsion components are uniformly distributed at intervals along the circumferential direction of the rotary table outer ring 5; the IMU inertial navigation system, the electronic speed regulator 9, the wireless communication system 11, the underwater camera system 12, the attitude adjustment system and the vector propulsion system 6 are all powered by a power supply assembly, the IMU inertial navigation system is used for acquiring motion information of the underwater helicopter in real time, and the electronic speed regulator 9 is used for generating control signals for the vector propulsion system 6 and the attitude adjustment system according to the motion information of the underwater helicopter.
In one embodiment of the present invention, the power supply assembly comprises a lithium battery pack 7 and a power module 8, wherein the lithium battery pack 7 adjusts output voltage and realizes the conversion between alternating current and direct current through the power module 8.
The outer ring 5 and the inner ring 4 of the turntable can rotate mutually, and the specific implementation mode can be as follows: the inner ring 4 of the turntable is an inner gear, and the posture adjusting system comprises a turntable motor 14-1, an outer gear 14-2, a first buoyancy block 14-3, a second buoyancy block 14-4, a third buoyancy block 14-5, a fourth buoyancy block 14-6, a first counterweight lead block 14-7, a second counterweight lead block 14-8, a third counterweight lead block 14-9 and a fourth counterweight lead block 14-10. The first buoyancy block 14-3, the second buoyancy block 14-4, the first counterweight lead block 14-7 and the second counterweight lead block 14-8 are positioned on the inner ring 4 of the turntable, every two buoyancy blocks and every two counterweight lead blocks are alternately arranged at 45 degrees, the third buoyancy block 14-5, the fourth buoyancy block 14-6 and the third counterweight lead block 14-9 are positioned on the outer ring 5 of the turntable, the fourth counterweight lead block 14-10 is positioned on the outer ring 5 of the turntable, and every two buoyancy blocks and every two counterweight lead blocks are alternately arranged at 45 degrees; the turntable motor 14-1 is fixed on the turntable outer ring 5, an output shaft of the turntable motor 14-1 is in transmission connection with the outer gear 14-2, and the outer gear 14-2 is meshed with the inner gear; the outer ring 5 and the inner ring 4 of the rotary table are respectively provided with two buoyancy blocks and two counterweight lead blocks which are uniformly arranged in a staggered manner.
As shown in fig. 3, the vector propulsion assembly comprises a steering engine 6-2, a vector connecting piece 6-3 and an underwater propeller 6-4; as shown in figure 2, the steering engine 6-2 is installed on the outer ring 5 of the rotary table through a steering engine fixing piece 6-1, the underwater propeller 6-4 is connected with the steering engine 6-2 through a vector connecting piece 6-3, and the power line of the rotary table motor of the attitude adjusting system and the power line of the steering engine of the vector propelling component are connected into the sealed cabin through threading bolts 13. When the waterproof steering engine 6-2 rotates, the propelling direction of 6-4 of the underwater propeller can be changed, and the vector propelling effect is realized.
As shown in fig. 4-5, the IMU inertial navigation system includes an IMU sensor 10-1 and a master control chip 10-2, the IMU sensor is used for acquiring numerical values of acceleration, angular acceleration and geomagnetic field of the underwater helicopter, a kalman filter module is integrated on the master control chip 10-2, and the master control chip 10-2 is in signal connection with the IMU sensor 10-1. The main control chip 10-2 outputs a control signal to the electronic speed regulator 9 after Kalman filtering is carried out through the numerical value output by the IMU sensor 10-1, so that the rotation of the underwater propeller is controlled, thrust is generated, and the motion state of the underwater helicopter is changed. The underwater camera system 12 comprises a camera 12-1 and a stability augmentation cloud platform 12-2, wherein the camera is fixed on the cabin disc 3 through the stability augmentation cloud platform 12-2, so that the stability of videos or images can be guaranteed when the underwater helicopter fluctuates, and the videos or the images are transmitted to a ground station when the underwater helicopter sails on the water surface.
The utility model discloses a working method as follows:
the upper cabin 1 and the lower cabin 2 are concentrically fixed on the upper surface and the lower surface of a cabin disc, the lithium battery pack 7, the power supply module 8, the IMU inertial navigation system and the wireless communication system 11 are positioned in the upper cabin, the electronic speed regulator 9 and the underwater camera system 12 are positioned in the lower cabin 2, and the upper cabin 1 and the lower cabin 2 form a sealed cabin; the sealed cabin is arranged at the center of the turntable, the inner ring 4 and the outer ring 5 of the turntable can rotate mutually under the drive of a turntable motor 14-1, the buoyancy blocks and the gravity blocks are arranged on the inner ring 4 and the outer ring 5 of the turntable at intervals, and the relative positions of the buoyancy blocks and the gravity blocks of the inner ring and the outer ring of the turntable are changed due to the mutual rotation between the inner ring 4 and the outer ring 5 of the turntable, so that the superposition of the buoyancy moment and the gravity moment is realized, and the attack angle (pitch angle) of the underwater helicopter is changed;
meanwhile, a vector propulsion system 6 arranged on the outer ring 5 of the turntable changes the propulsion direction of an underwater propeller 6-4 through the rotation of an underwater steering engine 6-2; the IMU inertial navigation system firstly acquires data of an IMU sensor 10-1 through a main control chip 10-2, wherein the data comprises angular velocity and acceleration of an underwater helicopter in three directions of XYZ and numerical values of a geomagnetic field at the position of the underwater helicopter, and outputs control signals to an electronic speed regulator 9 and an underwater steering engine 6-2 after Kalman filtering calculation, wherein the electronic speed regulator 9 is used for regulating the rotation speed of the underwater propeller, and the underwater steering engine 6-2 is used for controlling the propelling direction of the underwater propeller 6-4; the underwater camera system 12 is used for acquiring underwater image signals through the camera 12-1 and transmitting the underwater image signals to a screen of ground personnel through wireless transmission, and the stability-increasing cradle head 12-2 is used for controlling the shooting angle of the camera; a steering engine 6-2 and a turntable motor 14-1 which are arranged outside the sealed cabin enter the sealed cabin through threading bolts 13; the lithium battery pack 7 in the power supply assembly is used for supplying electric energy to the whole machine, and the power supply module 8 is used for reducing voltage and supplying power to the IMU sensor 10-1 and the main control chip 10-2.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, if modifications and variations of the cover of the present invention are within the scope of the claims and their equivalents, the present invention also encompasses these modifications and variations.
Claims (8)
1. A novel super-power underwater helicopter is characterized by comprising an upper cabin (1), a lower cabin (2), a cabin disc (3), a turntable, a vector propulsion system (6), a power supply assembly, an electronic speed regulator (9), an IMU inertial navigation system, a wireless communication system (11), an underwater camera system (12) and an attitude adjustment system;
the upper cabin (1) and the lower cabin (2) are respectively and fixedly installed on the upper side and the lower side of the cabin disc (3) to form sealed cabins, the wireless communication system (11), the power supply assembly and the IMU inertial navigation system are located in the upper cabin of the sealed cabin, the electronic speed regulator (9) and the underwater camera system (12) are located in the lower cabin of the sealed cabin, the sealed cabin is installed in the center of the turntable, and the attitude adjusting system is installed on the turntable; the rotary table comprises a rotary table outer ring (5) and a rotary table inner ring (4) which are respectively fixed on a ball bearing outer ring and an inner ring, the rotary table outer ring (5) is fixedly connected with the sealed cabin, a vector propulsion system (6) consisting of four groups of vector propulsion assemblies is further installed on the rotary table outer ring (5), and the four groups of vector propulsion assemblies are uniformly distributed along the circumferential direction of the rotary table outer ring (5) at intervals.
2. A new type of super powered underwater helicopter according to claim 1 characterized in that said upper (1) and lower (2) cabins are semicircular in shape.
3. The novel super powered underwater helicopter of claim 1, characterized in that said power supply assembly comprises a lithium battery pack (7) and a power module (8), said lithium battery pack (7) being connected to said power module (8).
4. The novel super-power underwater helicopter of claim 1, characterized in that the turntable inner ring (4) is an inner gear, the attitude adjustment system comprises a turntable motor (14-1), an outer gear (14-2), a buoyancy block and a counterweight lead block, the turntable motor (14-1) is fixed on the turntable outer ring (5), an output shaft of the turntable motor (14-1) is in transmission connection with the outer gear (14-2), and the outer gear (14-2) is meshed with the inner gear; the rotary table outer ring (5) and the rotary table inner ring (4) are respectively provided with two buoyancy blocks and two counterweight lead blocks, and the two buoyancy blocks and the two counterweight lead blocks are uniformly arranged in a staggered mode.
5. The novel super power-driven underwater helicopter of claim 1, wherein the vector propulsion assembly comprises a steering engine fixing part (6-1), a steering engine (6-2), a vector connecting part (6-3) and an underwater propeller (6-4); the steering engine (6-2) is installed on the outer ring (5) of the rotary table through a steering engine fixing piece (6-1), and the underwater propeller (6-4) is connected with the steering engine (6-2) through a vector connecting piece (6-3).
6. The novel super motor-driven underwater helicopter as claimed in claim 5, wherein the turntable motor power line of the attitude adjustment system and the steering engine power line of the vector propulsion assembly are connected into the sealed cabin through threading bolts (13).
7. The novel ultra-mobile underwater helicopter of claim 1, characterized in that the IMU inertial navigation system comprises an IMU sensor (10-1) and a main control chip (10-2), the IMU sensor is used for acquiring the values of the acceleration, the angular acceleration and the geomagnetic field of the underwater helicopter, a kalman filter module is integrated on the main control chip (10-2), and the main control chip (10-2) is in signal connection with the IMU sensor (10-1).
8. The novel super-power-driven underwater helicopter as claimed in claim 1, wherein said underwater camera system (12) comprises a camera (12-1) and a stability-increasing cradle head (12-2), said camera being fixed to the deck (3) by the stability-increasing cradle head (12-2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020560644.7U CN212047837U (en) | 2020-04-15 | 2020-04-15 | Novel super-power-driven underwater helicopter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020560644.7U CN212047837U (en) | 2020-04-15 | 2020-04-15 | Novel super-power-driven underwater helicopter |
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| CN212047837U true CN212047837U (en) | 2020-12-01 |
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| CN202020560644.7U Active CN212047837U (en) | 2020-04-15 | 2020-04-15 | Novel super-power-driven underwater helicopter |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113968326A (en) * | 2021-09-26 | 2022-01-25 | 西安交通大学 | Vector frame type underwater robot |
| CN115320787A (en) * | 2022-10-12 | 2022-11-11 | 三亚航空旅游职业学院 | Electronic buoy convenient to maintain and used for ocean monitoring |
-
2020
- 2020-04-15 CN CN202020560644.7U patent/CN212047837U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113968326A (en) * | 2021-09-26 | 2022-01-25 | 西安交通大学 | Vector frame type underwater robot |
| CN115320787A (en) * | 2022-10-12 | 2022-11-11 | 三亚航空旅游职业学院 | Electronic buoy convenient to maintain and used for ocean monitoring |
| CN115320787B (en) * | 2022-10-12 | 2022-12-09 | 三亚航空旅游职业学院 | Electronic buoy for ocean monitoring convenient to maintain |
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