CN215663940U - Underwater detection robot - Google Patents
Underwater detection robot Download PDFInfo
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- CN215663940U CN215663940U CN202120774069.5U CN202120774069U CN215663940U CN 215663940 U CN215663940 U CN 215663940U CN 202120774069 U CN202120774069 U CN 202120774069U CN 215663940 U CN215663940 U CN 215663940U
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Abstract
The utility model provides an underwater detection robot, comprising: depth sensor, gyroscope, range finding sonar group, control module and propeller group, depth sensor the gyroscope with range finding sonar group equallyd divide do not with control module links to each other, control module with propeller group links to each other, range finding sonar group is including arranging in the first range finding sonar of robot one side and arranging in the second range finding sonar of robot opposite side. According to the underwater detection robot, the robot is hovered at a fixed depth through the cooperation of the depth sensor and the propeller group, the robot can stably and balancedly advance when encountering water flow impact through the cooperation of the gyroscope and the propeller group, and the effect of advancing the center of a pipeline of the robot is realized through the first distance measuring sonar and the second distance measuring sonar of the distance measuring sonar group.
Description
Technical Field
The utility model relates to the technical field of drainage pipeline detection, in particular to an underwater detection robot.
Background
In drainage pipelines, both the water level and the pipeline orientation are constantly changing. When detection is carried out at any position of the pipeline, the existing equipment cannot hover at a fixed depth autonomously, the equipment can not move in an unbalanced manner when being impacted by water flow, and the equipment cannot walk in the center of the pipeline. The lack of stability and operational applicability cannot obtain the functional data of the whole pipeline at one time.
SUMMERY OF THE UTILITY MODEL
The utility model provides an underwater detection robot, which is used for solving the defects that the existing equipment in the prior art cannot fix the stability and operation applicability of deep hovering, unbalanced water flow impact and the like.
The utility model provides an underwater detection robot, comprising: a depth sensor, a gyroscope, a ranging sonar group, a control module and a propeller group,
the depth sensor, the gyroscope and the ranging sonar group are respectively connected with the control module, the control module is connected with the propeller group,
the range finding sonar group is including arranging in the first range finding sonar of robot one side and arranging in the second range finding sonar of robot opposite side.
According to the underwater detection robot provided by the utility model, the propeller group comprises a vertical propeller, a rear propeller and a front propeller, the rear propeller is arranged at the rear end of the robot, the front propeller is arranged at the front end of the robot, and the vertical propeller is arranged in the middle of the robot.
According to the underwater detection robot provided by the utility model, the distance measuring sonar group further comprises a third distance measuring sonar which is arranged at the front end of the robot.
The underwater detection robot further comprises a probe group, wherein the probe group comprises a vertical probe arranged at the upper end of the robot and a horizontal probe arranged at the front end of the robot.
According to the underwater detection robot provided by the utility model, the probe group is a sonar probe.
The underwater detection robot further comprises illuminating lamps, and the illuminating lamps are arranged on the periphery of the robot.
The underwater detection robot further comprises a machine frame, a control cabin and buoyancy blocks, wherein the gyroscope and the control module are arranged in the control cabin, the control cabin and the buoyancy blocks are arranged on the upper layer of the machine frame, and the control cabin is arranged between the buoyancy blocks.
According to the underwater detection robot provided by the utility model, the depth sensor is arranged on the control cabin.
The underwater detection robot further comprises a first camera, wherein the first camera is installed in the control cabin through a steering engine pan-tilt head, and the first camera is used for shooting through a first observation window in the front end of the control cabin.
The underwater detection robot further comprises a second camera, wherein a body of the second camera is arranged in the control cabin, and a camera head end of the second camera faces a second observation window at the upper end of the control cabin.
According to the underwater detection robot, the robot is hovered at a fixed depth through the cooperation of the depth sensor and the propeller group, the robot can stably and balancedly advance when encountering water flow impact through the cooperation of the gyroscope and the propeller group, and the effect of advancing the center of a pipeline of the robot is realized through the first distance measuring sonar and the second distance measuring sonar of the distance measuring sonar group.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of the connection of an underwater inspection robot provided by the present invention;
FIG. 2 is a schematic view of an underwater detection robot provided by the present invention;
FIG. 3 is a second schematic view of the underwater detection robot according to the present invention;
FIG. 4 is a schematic front end view of an underwater inspection robot provided by the present invention;
FIG. 5 is a schematic flow chart of a cruise method for a robot according to the present invention;
fig. 6 is a second schematic flow chart of the cruising method of the robot according to the present invention;
reference numerals:
100: a ranging sonar group; 200: a group of propellers; 300: a depth sensor;
400: a gyroscope; 500: a control module; 101: a first ranging sonar;
102: a second ranging sonar; 103: a third ranging sonar; 201: a vertical thruster;
202: a front propeller; 203: a rear propeller; 501: a second viewing window;
502: a vertical probe; 503: a horizontal probe; 504: an illuminating lamp;
510: a frame; 511: a control cabin; 512: a buoyancy block;
513: a first viewing window.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the embodiments of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Embodiments of the present invention will be described below with reference to fig. 1 to 6. It is to be understood that the following description is only exemplary embodiments of the present invention and is not intended to limit the present invention.
As shown in fig. 1, the present invention provides an underwater detection robot, including: depth sensor 300, gyroscope 400, range sonar bank 100, control module 500, and propeller bank 200.
Wherein, depth sensor 300, gyroscope 400 and range finding sonar group 100 are equallyd divide and are linked to each other with control module 500, and control module 500 links to each other with propeller group 100.
Specifically, depth sensor 300, gyroscope 400, and range sonar bank 100 communicate the collected data to control module 500. The control module 500 communicates the output control signals to the group of propellers 100, the group of propellers 100 responding according to the control signals.
Further, as shown in fig. 2, distance measuring sonar array 100 includes first distance measuring sonar 101 placed on one side of the robot and second distance measuring sonar 102 placed on the other side of the robot.
When the robot walking is in the pipeline, first range finding sonar 101 and second range finding sonar 102 gather the distance that both sides are apart from the pipe wall in real time to with data feedback control module 500, control module 500 can set up the distance that equals second range finding sonar 102 to the pipe wall with first range finding sonar 101 to the pipe wall, in order to reach the purpose that the robot traveled at the pipeline center.
As shown in fig. 2 and 3, in one embodiment of the present invention, the propeller group 200 includes a vertical propeller 201, a rear propeller 203, and a front propeller 202, the rear propeller 203 being disposed at the rear end of the robot, the front propeller 202 being disposed at the front end of the robot, and the vertical propeller 201 being disposed at the middle of the robot.
Wherein, the vertical thruster 201, the rear thruster 203 and the front thruster 202 can rotate positively and negatively. The vertical thruster 201 controls the robot to float up and submerge, and the front thruster 203 and the rear thruster 202 are horizontal vector thrusters and are responsible for controlling the robot to advance, retreat, move left, move right, turn left and turn right.
It should be understood that the above-mentioned orientations are relative positions of the front end, the rear end and the middle portion, and are only convenient for better understanding of the installation positions of the components.
As shown in fig. 4, in an alternative embodiment of the present invention, the distance measuring sonar array 100 further includes a third distance measuring sonar 103, and the third distance measuring sonar 103 is provided at the front end of the robot. And detecting the condition of the front obstacle to pre-judge the advancing of the robot. Meanwhile, one or more third ranging sonars 103 can be adopted according to the detection requirement.
With continued reference to FIG. 2, in one embodiment of the present invention, the underwater inspection robot further comprises a probe set comprising a vertical probe 502 disposed at the upper end of the robot and a horizontal probe 503 disposed at the front end of the robot.
In this embodiment, the probe set is a sonar probe. The vertical probe 502 and the horizontal probe 503 perform circumferential scanning along the center of the probe to detect the effect image of the environment at that time.
In the specific working process of this embodiment, the robot combines the third ranging sonar 103 and the state of the front obstacle acquired by the horizontal probe 503 to avoid the obstacle.
With continued reference to fig. 2 and 4, in one embodiment of the present invention, the underwater detection robot further includes illumination lamps 504, and the illumination lamps 504 are disposed around the robot. Better field illumination has been provided.
In another embodiment, as shown in fig. 4, the illumination lamps 504 may be angled to achieve a larger illumination area, such that the illumination lamps 504 are illuminated in a staggered manner.
With continued reference to fig. 2 and 3, in one embodiment of the present invention, the underwater detection robot further includes a frame 510, a control cabin 511 and buoyancy blocks 512, the gyroscope 400 and the control module 500 are disposed in the control cabin 511, the control cabin 511 and the buoyancy blocks 512 are disposed on the upper layer of the frame 510, and the control cabin 511 is disposed between the buoyancy blocks 512.
Further, range sonar array 100, forward thruster 202, aft thruster 203, and probe array are all disposed on the lower level of gantry 210.
With continued reference to FIG. 3, in one embodiment of the present invention, the depth sensor 300 is disposed on the control pod 511. Specifically, the body of the depth sensor 300 is disposed in the control compartment 511, and the sensing end is exposed from the control compartment 511.
In an embodiment of the present invention, the underwater detection robot further includes a first camera, and the first camera is generally installed in the control cabin 511 by using a steering engine pan-tilt, and captures images through a first observation window 513 at the front end of the control cabin 511.
In order to obtain a better camera angle, in an embodiment of the present invention, the underwater detection robot further includes a second camera, a body of the second camera is placed in the control cabin, and a camera head end of the second camera faces the second observation window 501 at the upper end of the control cabin 511.
In one embodiment of the present invention, the present invention is operated by a wired connection, that is, a cable is extended from the control cabin 511 to connect with the operation end in the manual control mode, so as to realize manual operation.
In order to realize the above embodiment of the utility model, the underwater detection robot further comprises a necessary power supply module for supplying power to the whole system. And a switch button and the like.
According to the underwater detection robot, the robot is hovered at a fixed depth through the cooperation of the depth sensor and the propeller group, the robot can stably and balancedly advance when encountering water flow impact through the cooperation of the gyroscope and the propeller group, and the effect of advancing the center of a pipeline of the robot is realized through the first distance measuring sonar and the second distance measuring sonar of the distance measuring sonar group.
As shown in fig. 5, the present invention provides a cruising method of a robot, including:
s1: appointing a submergence depth;
s2: the depth sensor detects the submergence depth of the robot in real time;
s3: when the specified submergence depth is reached, the control system starts the vertical thruster to hover;
s4: the control system starts the rear thruster and/or the front thruster to advance;
s5: the first distance measuring sonar and the second distance measuring sonar detect the distance from the pipeline in real time and keep the robot in the central position of the pipeline;
s6: a third distance measuring sonar detects the condition of the obstacle in the advancing direction, and the control system adjusts the vertical propeller, the front propeller and the rear propeller according to the condition of the obstacle;
s7: the gyroscope detects the inclination condition of the robot in real time, and the control system adjusts the vertical thruster, the front thruster and the rear thruster according to the inclination condition.
Meanwhile, the combination of a depth sensor, a gyroscope and a ranging sonar group is beneficial to maintaining the attitude balance, hovering at a fixed depth and detecting line patrol when the robot moves; the method enables the robot to automatically adjust and control the advancing gesture and carry out data acquisition when the robot advances in the pipeline, and stably obtains functional data of the whole pipeline at one time.
As shown in fig. 6, in one embodiment of the present invention, the specific steps for the control system to make adjustments to the vertical thruster, the front thruster and the rear thruster according to the obstacle condition in step S6 include:
s11: when the third ranging sonar detects the front obstacle, the detection data are sent to the control system;
s12: the control system switches the mode of the robot into a manual mode;
s13: the operator remotely controls the vertical propeller, the front propeller and the rear propeller of the robot to avoid obstacles or turn.
The switching between the automatic mode and the manual mode is realized by combining the specific data acquisition condition and the road condition in the pipeline, so that various conditions can be handled conveniently. Of course, the operator may manually select the automatic mode or the manual mode according to specific situations without waiting for the system to trigger the mode selection mechanism.
The gyroscope detects the inclination of the robot in real time in step S7, and the specific situation may be when the robot encounters the impact of water current underwater. Under the impact of water flow, the robot can shake, which affects the advancing or data acquisition.
And the gyroscope detects the shaking condition of the robot, collects shaking data and feeds the data back to the control system, and the control system analyzes the shaking data. And the thrusts of the vertical thruster, the front thruster and the rear thruster are adjusted to make the robot stable.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An underwater detection robot, comprising: a depth sensor, a gyroscope, a ranging sonar group, a control module and a propeller group,
the depth sensor, the gyroscope and the ranging sonar group are respectively connected with the control module, the control module is connected with the propeller group,
the range finding sonar group is including arranging in the first range finding sonar of robot one side and arranging in the second range finding sonar of robot opposite side.
2. The underwater detection robot of claim 1, wherein the set of thrusters includes a vertical thruster, a rear thruster disposed at a rear end of the robot, and a front thruster disposed at a front end of the robot, the vertical thruster being disposed in a middle portion of the robot.
3. The underwater detection robot of claim 1, wherein the ranging sonar group further comprises a third ranging sonar which is arranged at the front end of the robot.
4. The underwater detection robot of claim 1, further comprising a probe set including a vertical probe disposed at an upper end of the robot and a horizontal probe disposed at a front end of the robot.
5. The underwater detection robot of claim 4, wherein the probe set is a sonar probe.
6. The underwater detection robot of claim 1, further comprising illumination lights disposed around the robot.
7. The underwater detection robot of claim 1, further comprising a frame, a control pod and buoyancy blocks, wherein the gyroscope and the control module are disposed in the control pod, the control pod and the buoyancy blocks are disposed on an upper layer of the frame, and the control pod is disposed between the buoyancy blocks.
8. The underwater detection robot of claim 7, wherein the depth sensor is disposed on the control pod.
9. The underwater detection robot of claim 7, further comprising a first camera, wherein the first camera is mounted in the control cabin by a steering engine pan-tilt, and captures images through a first observation window at the front end of the control cabin.
10. The underwater detection robot of claim 9, further comprising a second camera, wherein a body of the second camera is disposed in the control cabin, and a camera end of the second camera faces a second observation window at an upper end of the control cabin.
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| CN202120774069.5U CN215663940U (en) | 2021-04-15 | 2021-04-15 | Underwater detection robot |
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| CN202120774069.5U CN215663940U (en) | 2021-04-15 | 2021-04-15 | Underwater detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113511314A (en) * | 2021-04-15 | 2021-10-19 | 武汉中仪物联技术股份有限公司 | Cruise method of robot and underwater detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113511314A (en) * | 2021-04-15 | 2021-10-19 | 武汉中仪物联技术股份有限公司 | Cruise method of robot and underwater detection robot |
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