CN215399275U - Intelligent cleaning robot suitable for underwater environment cleaning - Google Patents
Intelligent cleaning robot suitable for underwater environment cleaning Download PDFInfo
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- CN215399275U CN215399275U CN202121146900.9U CN202121146900U CN215399275U CN 215399275 U CN215399275 U CN 215399275U CN 202121146900 U CN202121146900 U CN 202121146900U CN 215399275 U CN215399275 U CN 215399275U
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Abstract
The utility model discloses an intelligent cleaning robot suitable for cleaning an underwater environment, which comprises an underwater robot and a ground station console; the underwater robot comprises a robot body and a cleaning device; the cleaning equipment is flexibly arranged on the robot body; the ground station control platform is electrically connected with the robot body. The ground station control platform is used for controlling the underwater robot and providing electric energy required by the operation of the underwater robot to realize semi-automatic operation, the robot body has high-maneuverability space movement capability, and the cleaning equipment is driven by the robot body to be capable of powerfully cleaning marine organisms attached to an underwater structure for a long time and comprehensively cleaning the underwater structure.
Description
Technical Field
The utility model relates to the technical field of underwater structure cleaning, in particular to an intelligent cleaning robot suitable for cleaning underwater environment.
Background
Under the action of long-term seawater soaking, shellfish and rust spots are attached to the surface of underwater structures such as ship hulls, culture net cages, offshore drilling platforms, port banks, floating docks and water conservancy dams, so that the normal use function of the underwater structure is seriously influenced, the removal of attached marine life and sundries is beneficial to reducing the risk of marine accidents, enhancing the stability and the storm resistance, and meanwhile, the energy loss of ships is reduced and the operation cost is saved.
However, at present, the work of brushing the structure under water at home and abroad is mostly through the manual abluent mode of diver's dive, the diver is because dive environment and human physical stamina influence, on the one hand, the environment is complicated under water, the diver is high in operation safety risk under water, can't accomplish the structure cleaning task under water fast in addition, and the diver washs under water, can't verify cleaning quality, the acceptance to cleaning performance has caused the difficulty, the diver washs at most of use cleaning brushes under water simultaneously, can cause destruction to the structure under water, and then influence life-span.
Therefore, it is an urgent need to solve the problem of the art to provide an intelligent cleaning robot suitable for cleaning underwater environment, which is fast and has no damage to the underwater structure.
SUMMERY OF THE UTILITY MODEL
In view of the above, the utility model provides an intelligent cleaning robot suitable for cleaning an underwater environment, which can comprehensively and thoroughly clean attachments on the surface of an underwater structure.
In order to achieve the purpose, the utility model adopts the following technical scheme:
an intelligent cleaning robot suitable for cleaning an underwater environment comprises an underwater robot and a ground station console;
the underwater robot comprises a robot body and a cleaning device; the cleaning equipment is flexibly installed on the robot body;
the ground station control platform is electrically connected with the robot body.
By adopting the scheme, the utility model has the beneficial effects that:
the ground station control platform is used for controlling the underwater robot and providing electric energy required by the operation of the underwater robot, semi-automatic operation is achieved, the robot body has high-mobility space motion capability, the cleaning equipment is driven by the robot body to be capable of powerfully cleaning marine organisms and sundries attached to an underwater structure for a long time, and the underwater structure can be cleaned in an all-round mode.
Further, the robot body comprises a body frame, a first buoyancy plate, a second buoyancy plate, a distribution and recovery hook, a short baseline positioning system, sensing equipment, monitoring equipment and power equipment;
the two sides of the machine body frame along the front and back movement direction are respectively provided with a sealed main control pressure-resistant cabin and a sealed driving pressure-resistant cabin; a control system is arranged in the main control pressure-resistant cabin; a power driving system is arranged in the driving pressure-resistant cabin; the control system, the power driving system and the ground station console are electrically connected; a plurality of guide wheels are arranged at the bottom of the machine body frame;
the first buoyancy plate is arranged at the top of the machine body frame; the short base line positioning system is arranged on the machine body frame and extends out of the first buoyancy plate in a penetrating mode; the second buoyancy plate is arranged at the bottom of the machine body frame; the guide wheels extend out of the second buoyancy plate in a penetrating mode; the cleaning equipment is flexibly arranged at the bottom of the machine body frame and extends through the second buoyancy plate;
the cloth-placing and recovering hook is fixed on the machine body frame and extends out of the first buoyancy plate in a penetrating manner;
the power equipment is arranged on the machine body frame; the sensing equipment is arranged on the machine body frame or the first buoyancy plate and the second buoyancy plate; the monitoring equipment is arranged on the machine body frame or the first buoyancy plate; the power equipment is electrically connected with the power driving system; the sensing equipment and the monitoring equipment are respectively electrically connected with the control system.
The beneficial effects produced by adopting the further technical scheme are as follows:
1) the three-layer structure design is adopted, and the middle layer adopts a machine body frame, so that the overall weight can be reduced as much as possible while the strength is ensured, the structure is simplified, and the three-layer structure has good hydrodynamic characteristics;
2) the first buoyancy plate and the second buoyancy plate can provide buoyancy, so that the streamline performance is enhanced;
3) the cloth recovering hook facilitates the cloth placing, recovering and lifting of the robot body, improves the efficiency and safety of the cloth placing and recovering, and is convenient, simple, stable and reliable;
4) the guide wheels are convenient for the robot body to move along the ship wall in a clinging manner, and the proper distance for safe and efficient operation is ensured;
5) the short baseline positioning system is utilized to realize position control of the robot body in water, the current position of the robot body is determined according to real-time position information fed back by the short baseline positioning system, the position is compared with a preset position, then corresponding power equipment is controlled to work, and the position of the robot body in water is adjusted to reach the preset control position.
Further, the monitoring equipment comprises a plurality of front-view cameras, a plurality of rear-view cameras, a plurality of front illuminating lamps and a plurality of rear illuminating lamps;
the plurality of front-view cameras and the plurality of rear-view cameras are respectively arranged on two sides of the machine body frame along the front-back movement direction of the machine body frame;
the front illuminating lamps and the rear illuminating lamps are respectively arranged on two sides of the first buoyancy plate along the front-rear movement direction of the first buoyancy plate;
the front-view camera, the rear-view camera, the front illuminating lamp and the rear illuminating lamp are electrically connected with the control system.
Adopt the beneficial effect that above-mentioned further technical scheme produced to be, can all-round observation judge the position that needs the clearance through foresight camera and back vision camera, the front light can improve the definition with the back light.
Further, the power equipment comprises four horizontal vector propellers and four vertical propellers;
the four horizontal vector thrusters are respectively and horizontally fixed at four corner ends of the machine body frame; the four vertical thrusters are respectively and vertically fixed at four corner ends of the machine body frame and are adjacent to the horizontal vector thrusters;
the four horizontal vector thrusters and the four vertical thrusters are respectively electrically connected with the power driving system.
The four horizontal vector thrusters and the four vertical thrusters are matched with each other to achieve a corresponding motion state, so that the aim of controlling the robot body to move longitudinally, transversely, vertically, transversely, pitching and bow-turning is achieved, and the multi-degree-of-freedom motion control of the robot body is achieved.
Further, the sensing device comprises a depth sensor and an attitude sensor; the depth sensor and the attitude sensor are both arranged on the machine body frame; the depth sensor and the attitude sensor are electrically connected with the control system.
The method has the advantages that algorithm budgeting is carried out according to the three-axis attitude angle fed back by the attitude sensor, the heading angle of forward heading is kept to be continuously self-corrected, and the heading in the preset direction is kept; and the depth feedback value of the depth sensor is utilized, the depth data is utilized to carry out PID control in real time, and the change of the steering and rotating speed of the vertical propeller is fed back, so that the autonomous depth control is realized.
Further, the cleaning device comprises two cavitation jet flow brush discs; the two cavitation jet flow brush discs are arranged at the bottom of the machine body frame side by side through springs, and are communicated with a pump station through connecting pipes.
The beneficial effect who adopts above-mentioned further technical scheme to produce does, arranges side by side between two cavitation jet brush dishes, can improve cleaning performance, uses the spring to carry out flexonics between cavitation jet brush dish and the robot body simultaneously, has reduced because the attachment is uneven the wall motion that causes and has vibrate and the stuck and straight phenomenon to underwater structure cleaning process.
Furthermore, the corner ends of the first buoyancy plate and the second buoyancy plate are provided with anti-collision rubber strips.
Adopt the beneficial effect that above-mentioned further technical scheme produced to be, can carry out collision protection to the robot body.
Furthermore, the ground station console comprises an upper computer, and a display and a remote controller which are electrically connected with the upper computer;
the control system comprises a controller, a power communication module and a cabin entering adapter plate; the controller is electrically connected with the upper computer through the power communication module, and the controller is electrically connected with the forward-looking camera, the rear-looking camera, the front illuminating lamp, the rear illuminating lamp, the depth sensor and the attitude sensor through the cabin entry adapter plate respectively;
the power driving system comprises a power driving conversion plate, a DC-DC converter and a driving power supply for supplying power to the DC-DC converter; the power driving conversion plate is electrically connected with the horizontal vector propeller and the vertical propeller respectively; the controller is electrically connected with the power driving conversion plate; the DC-DC converter is electrically connected with the cabin entering adapter plate.
The controller receives a data instruction of the upper computer, and then sends the data instruction to the processor of the power driving adapter plate in a CAN communication mode to control the power equipment; the cabin-entering adapter plate realizes the wiring switching when various devices enter the main control pressure-resistant cabin, avoids the state of much disorder of internal circuits, and is also used for connecting a power supply and signals with a DC-DC converter in the driving pressure-resistant cabin; the display is used for displaying the underwater working state of the robot body and guiding an operator to operate, so that the robot body is tightly attached to the outer wall of the underwater structure to be cleaned, and the best cleaning effect and the maximum cleaning efficiency are achieved.
Further, the controller and the processor of the power-driven conversion plate are both STM32F 407.
Further, the machine body frame is made of polypropylene; the main control pressure-resistant cabin and the driving pressure-resistant cabin are both made of 7075-T6 aluminum alloy.
The machine body frame made of the polypropylene material has the advantages of no toxicity, no odor, high strength, corrosion resistance, easiness in processing, density close to that of water and the like; the main control pressure-resistant cabin and the driving pressure-resistant cabin are made of 7075-T6 aluminum alloy, so that the strength of underwater environment use can be met, and the main control pressure-resistant cabin and the driving pressure-resistant cabin are safe and reliable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is an exploded view of an intelligent cleaning robot adapted for cleaning underwater environment according to the present invention;
FIG. 2 is a schematic diagram of an overall structure of an intelligent cleaning robot suitable for cleaning an underwater environment according to the present invention;
FIG. 3 is a bottom view of an intelligent cleaning robot adapted for cleaning underwater environments in accordance with the present invention;
fig. 4 is a schematic structural diagram of an intelligent cleaning robot suitable for cleaning an underwater environment provided by the utility model when in use.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, an embodiment of the utility model discloses an intelligent cleaning robot suitable for cleaning an underwater environment, which comprises an underwater robot a and a ground station console B;
the underwater robot A comprises a robot body 1 and a cleaning device 2; the cleaning equipment 2 is flexibly arranged on the robot body 1;
the ground station console B is electrically connected with the robot body 1. The specific ground station control platform B is electrically connected with the robot body 1 through the energy station C, the energy station C is responsible for providing electric power, high-pressure water sources and other energy sources required by operation for the underwater robot A, the energy station C is connected with the ground station control platform B through a communication cable and conducts data interaction, and the energy station C provides energy sources required by operation for the underwater robot A through a waterproof umbilical cable and conducts data interaction with the underwater robot A.
The ground station console B is used for controlling the underwater robot A and providing electric energy required by the operation of the underwater robot A to realize semi-automatic operation, the robot body 1 has high-maneuverability space motion capability, and the cleaning equipment 2 is driven by the robot body 1 to be capable of powerfully cleaning marine organisms attached to an underwater structure for a long time and comprehensively cleaning the underwater structure.
Specifically, the robot body 1 comprises a body frame 11, a first buoyancy plate 12, a second buoyancy plate 13, a distribution and recovery hook 14, a short baseline positioning system 15, a sensing device 111, a monitoring device 16 and a power device 17;
the two sides of the machine body frame 11 along the front and back movement direction are respectively provided with a sealed main control pressure-resistant cabin 18 and a sealed driving pressure-resistant cabin 19; a control system is arranged in the main control pressure-resistant cabin 18; a power driving system is arranged in the driving pressure-resistant cabin 19; the control system, the power driving system and the ground station console are electrically connected; a plurality of guide wheels 110 are arranged at the bottom of the machine body frame 11;
the first buoyancy plate 12 is installed on the top of the machine body frame 11; the short base line positioning system 15 is installed on the machine body frame 11 and extends out of the first buoyancy plate 12 in a penetrating mode, and the model of the short base line positioning system is BlueTrack-500; the second buoyancy plate 13 is arranged at the bottom of the machine body frame 11; the guide wheels 110 extend out of the second buoyancy plate 13; the cleaning equipment 2 is flexibly arranged at the bottom of the machine body frame 11 and extends through the second buoyancy plate 13;
the cloth-placing and recovering hook 14 is fixed on the machine body frame 11 and extends out of the first buoyancy plate 12 in a penetrating way;
the power equipment 17 is arranged on the machine body frame 11; the sensing device 111 is installed on the machine body frame 11 or the first buoyancy plate 12 and the second buoyancy plate 13; the monitoring equipment 16 is arranged on the machine body frame 11 or the first buoyancy plate 12; the power equipment 17 is electrically connected with the power driving system; the sensing device 111 and the monitoring device 16 are electrically connected to the control system, respectively.
Specifically, the monitoring device 16 includes a plurality of front-view cameras 161, a plurality of rear-view cameras 162, a plurality of front illumination lamps 163, and a plurality of rear illumination lamps 164;
a plurality of front view cameras 161 and a plurality of rear view cameras 162 are respectively installed at both sides of the body frame 11 in the front-rear movement direction thereof; the plurality of front-view cameras 161 and the plurality of rear-view cameras 162 are all infrared cameras with a resolution of 1080P;
a plurality of front illuminators 163 and a plurality of rear illuminators 164 are respectively installed at both sides of the first buoyant plate 12 in the forward and backward movement direction thereof;
the plurality of front-view cameras 161, the plurality of rear-view cameras 162, the plurality of front illuminating lamps 163 and the plurality of rear illuminating lamps 164 are all electrically connected with the control system.
Specifically, the power plant 17 includes four horizontal vector thrusters 171 and four vertical thrusters 172;
the four horizontal vector thrusters 171 are horizontally fixed at the four corner ends of the body frame 11, respectively; the four vertical thrusters 172 are respectively vertically fixed at the four corner ends of the machine body frame 11 adjacent to the horizontal vector thrusters 171;
the four horizontal vector thrusters 171 and the four vertical thrusters 172 are electrically connected to the power drive system, respectively.
Specifically, the sensing device 111 includes a depth sensor and an attitude sensor; the depth sensor and the attitude sensor are both arranged on the machine body frame 11; the depth sensor and the attitude sensor are both electrically connected with the control system; the sensing device 111 is specifically of type MEPUS-ATT 1.
Specifically, the cleaning device 2 includes two cavitation jet brush disks 21; the two cavitation jet flow brush discs 21 are arranged at the bottom of the machine body frame 11 side by side through springs 3, and the two cavitation jet flow brush discs 21 are communicated with a pump station through connecting pipes.
Specifically, the corner ends of the first buoyancy plate 12 and the second buoyancy plate 13 are both provided with the anti-collision rubber strips 4.
Specifically, the ground station console C comprises an upper computer, and a display and a remote controller which are electrically connected with the upper computer;
the control system comprises a controller, a power communication module and a cabin entering adapter plate; the controller is electrically connected with the upper computer through the power communication module, and is electrically connected with the front-view camera 161, the rear-view camera 162, the front illuminating lamp 163, the rear illuminating lamp 164, the depth sensor and the attitude sensor through the cabin entering adapter plate respectively;
the power driving system comprises a power driving conversion plate, a DC-DC converter and a driving power supply for supplying power to the DC-DC converter; the power driving conversion plate is respectively electrically connected with the horizontal vector thruster 171 and the vertical thruster 172; the controller is electrically connected with the power driving conversion plate; the DC-DC converter is electrically connected with the cabin entering adapter plate.
Specifically, the controller and the processor of the power-driven conversion board are both STM32F 407.
Specifically, the material of the body frame 11 is polypropylene; the main control pressure-resistant cabin 18 and the driving pressure-resistant cabin 19 are both made of 7075-T6 aluminum alloy.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An intelligent cleaning robot suitable for cleaning an underwater environment is characterized by comprising an underwater robot and a ground station console;
the underwater robot comprises a robot body and a cleaning device; the cleaning equipment is flexibly installed on the robot body;
the robot body comprises a machine body frame, a first buoyancy plate, a second buoyancy plate, a distributing and recovering hook, a short base line positioning system, sensing equipment, monitoring equipment and power equipment; the two sides of the machine body frame along the front and back movement direction are respectively provided with a sealed main control pressure-resistant cabin and a sealed driving pressure-resistant cabin; a control system is arranged in the main control pressure-resistant cabin; a power driving system is arranged in the driving pressure-resistant cabin; the control system, the power driving system and the ground station console are electrically connected; a plurality of guide wheels are arranged at the bottom of the machine body frame; the first buoyancy plate is arranged at the top of the machine body frame; the short base line positioning system is arranged on the machine body frame and extends out of the first buoyancy plate in a penetrating mode; the second buoyancy plate is arranged at the bottom of the machine body frame; the guide wheels extend out of the second buoyancy plate in a penetrating mode; the cleaning equipment is flexibly arranged at the bottom of the machine body frame and extends through the second buoyancy plate; the cloth-placing and recovering hook is fixed on the machine body frame and extends out of the first buoyancy plate in a penetrating manner; the power equipment is arranged on the machine body frame; the sensing equipment is arranged on the machine body frame or the first buoyancy plate and the second buoyancy plate; the monitoring equipment is arranged on the machine body frame or the first buoyancy plate; the power equipment is electrically connected with the power driving system; the sensing equipment and the monitoring equipment are respectively electrically connected with the control system;
the ground station control platform is electrically connected with the robot body.
2. An intelligent cleaning robot adapted for underwater environmental cleaning according to claim 1, wherein said monitoring device comprises a plurality of forward looking cameras, a plurality of rear looking cameras, a plurality of front lights and a plurality of rear lights;
the plurality of front-view cameras and the plurality of rear-view cameras are respectively arranged on two sides of the machine body frame along the front-back movement direction of the machine body frame;
the front illuminating lamps and the rear illuminating lamps are respectively arranged on two sides of the first buoyancy plate along the front-rear movement direction of the first buoyancy plate;
the front-view camera, the rear-view camera, the front illuminating lamp and the rear illuminating lamp are electrically connected with the control system.
3. An intelligent cleaning robot adapted for underwater environmental cleaning according to claim 2, wherein said power plant comprises four horizontal vector thrusters and four vertical thrusters;
the four horizontal vector thrusters are respectively and horizontally fixed at four corner ends of the machine body frame; the four vertical thrusters are respectively and vertically fixed at four corner ends of the machine body frame and are adjacent to the horizontal vector thrusters;
the four horizontal vector thrusters and the four vertical thrusters are respectively electrically connected with the power driving system.
4. A smart cleaning robot adapted for underwater environmental cleaning according to claim 3, wherein said sensing device comprises a depth sensor and an attitude sensor; the depth sensor and the attitude sensor are both arranged on the machine body frame; the depth sensor and the attitude sensor are electrically connected with the control system.
5. An intelligent cleaning robot suitable for underwater environment cleaning according to any one of claims 1-4, characterized in that the cleaning device comprises two cavitation jet brush discs; the two cavitation jet flow brush discs are arranged at the bottom of the machine body frame side by side through springs, and are communicated with a pump station through connecting pipes.
6. An intelligent cleaning robot suitable for underwater cleaning according to claim 5, wherein the corner ends of the first buoyancy plate and the second buoyancy plate are provided with anti-collision rubber strips.
7. The intelligent cleaning robot for underwater cleaning according to claim 4, wherein the ground station console comprises an upper computer, and a display and a remote controller electrically connected with the upper computer;
the control system comprises a controller, a power communication module and a cabin entering adapter plate; the controller is electrically connected with the upper computer through the power communication module, and the controller is electrically connected with the forward-looking camera, the rear-looking camera, the front illuminating lamp, the rear illuminating lamp, the depth sensor and the attitude sensor through the cabin entry adapter plate respectively;
the power driving system comprises a power driving conversion plate, a DC-DC converter and a driving power supply for supplying power to the DC-DC converter; the power driving conversion plate is electrically connected with the horizontal vector propeller and the vertical propeller respectively; the controller is electrically connected with the power driving conversion plate; the DC-DC converter is electrically connected with the cabin entering adapter plate.
8. An intelligent cleaning robot for underwater environmental cleaning according to claim 7, wherein the controller and the power-driven converter plate are of the STM32F407 type.
9. The intelligent cleaning robot suitable for cleaning an underwater environment according to claim 1, wherein the machine body frame is made of polypropylene; the main control pressure-resistant cabin and the driving pressure-resistant cabin are both made of 7075-T6 aluminum alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121146900.9U CN215399275U (en) | 2021-05-26 | 2021-05-26 | Intelligent cleaning robot suitable for underwater environment cleaning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121146900.9U CN215399275U (en) | 2021-05-26 | 2021-05-26 | Intelligent cleaning robot suitable for underwater environment cleaning |
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| Publication Number | Publication Date |
|---|---|
| CN215399275U true CN215399275U (en) | 2022-01-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121146900.9U Active CN215399275U (en) | 2021-05-26 | 2021-05-26 | Intelligent cleaning robot suitable for underwater environment cleaning |
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| Country | Link |
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| CN (1) | CN215399275U (en) |
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2021
- 2021-05-26 CN CN202121146900.9U patent/CN215399275U/en active Active
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