CN214824007U - Control system of underwater robot - Google Patents
Control system of underwater robot Download PDFInfo
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- CN214824007U CN214824007U CN202121204092.7U CN202121204092U CN214824007U CN 214824007 U CN214824007 U CN 214824007U CN 202121204092 U CN202121204092 U CN 202121204092U CN 214824007 U CN214824007 U CN 214824007U
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- controller
- steering wheel
- organism
- propeller
- control system
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- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000000007 visual effect Effects 0.000 claims abstract description 14
- 230000005611 electricity Effects 0.000 claims abstract description 9
- 238000012546 transfer Methods 0.000 claims abstract description 7
- 230000002146 bilateral effect Effects 0.000 claims abstract description 3
- 239000013589 supplement Substances 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 11
- 238000007689 inspection Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 5
- 230000009189 diving Effects 0.000 abstract description 3
- 238000013519 translation Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 2
- 239000002156 adsorbate Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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Abstract
The utility model discloses a control system of underwater robot, which comprises a bod, fixed mounting has master controller, six ways electricity to transfer controller, steering wheel controller, power module, temperature and humidity sensor, pressure sensor and electronic compass in the organism, the power propeller is installed to the outer bilateral symmetry of organism, organism front end mid-mounting has snatchs mechanism and visual identification device, six ways electricity are transferred the controller and are connected with the power propeller, steering wheel controller is connected with the actuating mechanism who snatchs the mechanism, the master controller is connected with six ways electricity transfer controller, steering wheel controller, power module, temperature and humidity sensor, pressure sensor, electronic compass and visual identification device respectively. The utility model discloses can make the organism in the nimble superficial diving or translation of aquatic to can carry out automatic line inspection according to the pipeline under water, and clear up the foreign matter on pipeline surface under water at the line inspection in-process, can effectively improve contest task completion degree and completion efficiency.
Description
Technical Field
The utility model belongs to the technical field of the competition robot, concretely relates to underwater robot's control system.
Background
The underwater pipeline intelligent inspection robot project is a sub project of an engineering training competition, and the competition rules are as follows: the robot competition field is as shown in figure 4, and during competition, the robot can move along the underwater pipeline, detect adsorbates on the pipeline, give an alarm and complete removal, recovery and other tasks. The task execution process does not allow the use of any manual interaction means including remote control to control the in-water robot and the auxiliary device.
At present, in experimental equipment, the number of experimental equipment specially used for competition is small, students cannot understand the competition well, and meanwhile, in order to finish the competition task more efficiently and with high completion degree, an underwater robot suitable for competition and teaching is designed for the purpose, and a control system matched with the robot is provided.
Disclosure of Invention
The utility model aims to solve the technical problem that just not enough to above-mentioned prior art provides a control system of underwater robot, and it can control the nimble superficial diving or horizontal migration of underwater robot to can realize automatic line patrol, and discern, clear up rubbish at line patrol in-process, accomplish the competition task.
The utility model adopts the technical proposal that: the utility model provides a control system of underwater robot, includes the organism, the organism is inside hollow seal structure, fixed mounting has master controller, six ways electricity to transfer controller, steering wheel controller, power module, temperature and humidity sensor, pressure sensor and electronic compass in the organism, power propeller is installed to the outer bilateral symmetry of organism, organism front end mid-mounting has snatchs mechanism and visual identification device, six ways electricity are transferred the controller and are connected with power propeller, steering wheel controller is connected with the actuating mechanism who snatchs the mechanism, the master controller is connected with six ways electricity transfer controller, steering wheel controller, power module, temperature and humidity sensor, pressure sensor, electronic compass and visual identification device respectively.
Preferably, the machine body is formed by hermetically splicing an upper shell, a middle shell and a lower shell.
Preferably, the power propeller comprises two vertical propellers and a horizontal propeller, the horizontal propeller is fixed in the middle of one side of the machine body through a horizontal mounting frame, the two vertical propellers are symmetrically mounted on the front side and the rear side of the horizontal propeller through vertical mounting frames, and the six-path electrically-controlled controller is connected with each horizontal propeller and each vertical propeller respectively.
Preferably, the visual recognition device comprises an OpenMV camera, a light supplement lamp and a foreign matter alarm lamp, and the OpenMV camera, the light supplement lamp and the foreign matter alarm lamp are respectively connected with the main controller.
Preferably, the grabbing mechanism comprises a fixing frame and three groups of vertically-arranged clamping jaws, the three groups of clamping jaws are respectively located at the top, the middle and the bottom of the fixing frame, the three groups of clamping jaws are fixedly aligned in the vertical direction through connecting rods, gears which are meshed with each other are arranged at the end parts of the two groups of clamping jaws located at the top and the bottom of the fixing frame, the two groups of gears are respectively and fixedly connected to the top and the bottom of the fixing frame, a driving steering engine is fixedly mounted on the fixing frame, an output shaft of the driving steering engine is connected with one of the gears, and the driving steering engine is connected with a steering engine controller.
The beneficial effects of the utility model reside in that:
(1) each horizontal propeller and each vertical propeller are respectively controlled by the six-path electric tuning controller, so that the machine body can freely float and submerge or horizontally move in water, and the moving flexibility is high;
(2) the pressure sensor and the compass are used for detecting the water pressure and the posture of the machine body in water, so that the state of the machine body can be known in real time;
(3) the visual recognition device is arranged and used for recognizing the underwater pipeline and foreign matters on the surface of the pipeline and ensuring that the machine can move along with the pipeline;
(4) the grabbing mechanism is arranged, so that the foreign matters to be cleaned on the surface of the underwater pipeline can be cleaned conveniently.
The utility model discloses can make the organism in the nimble superficial diving or translation of aquatic to can carry out automatic line inspection according to the pipeline under water, and clear up the foreign matter on pipeline surface under water at the line inspection in-process, can effectively improve contest task completion degree and completion efficiency.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic view of the gripping mechanism of the present invention;
FIG. 4 is a top view of a race map.
In the figure: 1. a body; 2. a power propeller; 3. a grabbing mechanism; 4. a visual recognition device; 21. a horizontal thruster; 22. a vertical thruster; 31. a fixed mount; 32. a claw; 33. a connecting rod; 34. a gear; 35. driving a steering engine; 41. an OpenMV camera; 42. a light supplement lamp; 43. foreign matter alarm lamp.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the control system of the underwater robot provided in this embodiment includes a machine body 1, where the machine body 1 is formed by hermetically splicing an upper shell, a middle shell and a lower shell, the interior of the machine body 1 is a hollow structure, and a main controller, a six-channel electric tuning controller, a steering engine controller, a power supply module, a temperature and humidity sensor, a pressure sensor and an electronic compass are fixedly installed in the machine body 1; the temperature and humidity sensor transmits signals with the main controller through the I/O port and is used for detecting the temperature and humidity inside the machine body 1; the pressure sensor is communicated with the main controller in an SPI bus mode and is used for detecting the water pressure borne by the machine body 1, so that the underwater depth of the machine body 1 is obtained; the electronic compass is communicated with the main controller in an I2C bus mode and is used for detecting a roll angle, a pitch angle and a course angle of the machine body 1 and monitoring the self posture of the robot in real time; the main controller is also respectively connected with a power supply module, a six-path electric regulation controller and a steering engine controller, the power supply module supplies power to each power consumption unit, the six-path electric regulation controller is used for independently controlling each horizontal propeller 21 and each vertical propeller 22, and the steering engine controller is used for controlling a driving steering engine 35 of the grabbing mechanism 3 to work;
the power propellers 2 are symmetrically arranged on two outer sides of the machine body 1, each power propeller 2 comprises a horizontal propeller 21 and a vertical propeller 22, each horizontal propeller 21 is fixed in the middle of one side of the machine body 1 through a horizontal mounting frame, the two vertical propellers 22 are symmetrically arranged on the front side and the rear side of the corresponding horizontal propeller 21 through the corresponding vertical mounting frame, the horizontal propellers 21 are used for driving the machine body 1 to move horizontally, and the vertical propellers 22 are used for driving the machine body 1 to float and submerge;
the middle part of the front end of the machine body 1 is provided with a grabbing mechanism 3 and a visual identification device 4;
the vision recognition device 4 comprises an OpenMV camera 41, a light supplement lamp 42 and a foreign matter alarm lamp 43, the light supplement lamp 42 provides compensation light for the OpenMV camera 41, so that the OpenMV camera 41 can shoot clearly, the OpenMV camera 41 is mainly used for recognizing underwater pipelines and foreign matters on the surfaces of the pipelines, and meanwhile, the vision recognition device is also used for detecting the current angle and intercept of the machine body 1 deviating from the underwater pipelines in water and the distance between a robot and the underwater pipelines;
When the underwater robot is used, the main controller receives various parameter signals transmitted by the temperature and humidity sensor, the pressure sensor and the visual recognition device 4, judges the position and the posture of the robot body 1 according to the signals, then controls each horizontal propeller 21 or each vertical propeller 22 through the six-path electric regulation controller to enable the robot body 1 to advance in water, and the temperature and humidity sensor, the pressure sensor and the visual recognition device 4 continuously send state information of the underwater robot body 1 to the main controller in the advancing process;
the main controller sends a signal to the foreign matter alarm lamp 43, the foreign matter alarm lamp 43 is on, the main controller controls the body 1 to adjust the posture of the body 1 and dive the body, when the body is dived to the position of the foreign matter, the main controller sends an instruction to the steering engine controller, the grabbing mechanism 3 is controlled to grab the foreign matter, and after the foreign matter is grabbed, the main controller controls the main controller to grab the foreign matter according to the angle and the intercept of the visual recognition device 4 and the shape and the position information of the foreign matter, the shape and the position information of the foreign matter is fed back to the main controller in real time, the main controller controls the body 1 to adjust the posture of the body 1 and dive the body when the body is dived to the position of the foreign matter, the main controller sends an instruction to the steering engine controller, and after the foreign matter is grabbed, the main controller offsets the angle and the intercept of the underwater pipeline in real time, and the shape and the position information of the foreign matter are fed back to the main controller in real time, and the main controller controls the body to control the grabbing mechanism 3 to grab the foreign matter according to the visual recognition device 4, The information fed back by the pressure sensor and the electronic compass in real time controls the machine body 1 to advance to the competition terminal along the underwater pipeline.
The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and inventive concept provided by the present invention should be covered within the protection scope of the present invention.
Claims (5)
1. A control system of an underwater robot, characterized in that: including organism (1), organism (1) is inside hollow seal structure, fixed mounting has master controller, six ways electricity to transfer controller, steering wheel controller, power module, temperature and humidity sensor, pressure sensor and electronic compass in organism (1), power propeller (2) are installed to organism (1) outer bilateral symmetry, organism (1) front end mid-mounting has snatchs mechanism (3) and visual identification device (4), six ways electricity transfer controller is connected with power propeller (2), steering wheel controller is connected with the actuating mechanism who snatchs mechanism (3), the master controller is connected with six ways electricity transfer controller, steering wheel controller, power module, temperature and humidity sensor, pressure sensor, electronic compass and visual identification device (4) respectively.
2. The control system of an underwater robot as claimed in claim 1, wherein: the machine body (1) is formed by hermetically splicing an upper shell, a middle shell and a lower shell.
3. The control system of an underwater robot as claimed in claim 1, wherein: the power propeller (2) comprises two vertical propellers (22) and one horizontal propeller (21), the horizontal propeller (21) is fixed in the middle of one side of the machine body (1) through a horizontal mounting rack, the two vertical propellers (22) are symmetrically installed on the front side and the rear side of the horizontal propeller (21) through the vertical mounting rack, and the six-path electric controller is respectively connected with each horizontal propeller (21) and each vertical propeller (22).
4. The control system of an underwater robot as claimed in claim 1, wherein: the vision recognition device (4) comprises an OpenMV camera (41), a light supplement lamp (42) and a foreign matter alarm lamp (43), and the OpenMV camera (41), the light supplement lamp (42) and the foreign matter alarm lamp (43) are connected with the main controller respectively.
5. The control system of an underwater robot as claimed in claim 1, wherein: snatch mechanism (3) including three group jack catchs (32) of mount (31) and vertical setting, three group jack catchs (32) are located the top of mount (31), middle part and bottom respectively, and three group jack catchs (32) are fixed the alignment in vertical direction through connecting rod (33), and the tip that is located two sets of jack catchs (32) of mount (31) top and bottom is equipped with intermeshing's gear (34), and two sets of gear (34) are fixed connection respectively at the top and the bottom of mount (31), fixed mounting has drive steering wheel (35) on mount (31), and the output shaft of drive steering wheel (35) is connected with one of them gear (34), drive steering wheel (35) are connected with steering wheel controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121204092.7U CN214824007U (en) | 2021-05-28 | 2021-05-28 | Control system of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121204092.7U CN214824007U (en) | 2021-05-28 | 2021-05-28 | Control system of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214824007U true CN214824007U (en) | 2021-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121204092.7U Expired - Fee Related CN214824007U (en) | 2021-05-28 | 2021-05-28 | Control system of underwater robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN214824007U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802670A (en) * | 2022-06-02 | 2022-07-29 | 哈尔滨剑桥学院 | Coral ecological health monitoring tour submarine |
| CN115071920A (en) * | 2022-06-16 | 2022-09-20 | 常熟理工学院 | Satisfy submarine pipeline and seek underwater robot who examines |
-
2021
- 2021-05-28 CN CN202121204092.7U patent/CN214824007U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802670A (en) * | 2022-06-02 | 2022-07-29 | 哈尔滨剑桥学院 | Coral ecological health monitoring tour submarine |
| CN115071920A (en) * | 2022-06-16 | 2022-09-20 | 常熟理工学院 | Satisfy submarine pipeline and seek underwater robot who examines |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211123 |