CN216118500U - Underwater robot - Google Patents

Abstract

The utility model belongs to the technical field of robots, and particularly relates to an underwater robot. The underwater robot comprises a body, a hollow column, a first detector, a second detector, a third detector, a fourth detector and a driving module. Wherein, the hollow column is connected with the body; the first detector is arranged at the front end of the hollow column, the second detector is arranged below the hollow column, the third detector is arranged on the first side face of the hollow column, the fourth detector is arranged on the second side face of the hollow column, the driving module is arranged inside the body, and the driving module can drive the body to move so as to avoid obstacles. The underwater robot can sense and avoid obstacles around the underwater robot, so that the underwater robot can stably work underwater, and the stability and the applicability of the underwater robot are improved.

Description

Underwater robot

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to an underwater robot.

Background

With the continuous development of science and technology, the resource development of the ocean field by human beings is continuously increased. Because the underwater environment is influenced by water pressure and ocean current, people cannot accurately predict the underwater environment, and meanwhile, the depth of artificial diving is limited, so that the underwater robot is particularly important to replace the artificial diving to survey the underwater environment, and the underwater robot becomes an indispensable tool for developing underwater resources.

However, the submarine environment is comparatively complicated, and the quality of water of submarine is comparatively muddy usually, and the velocity of water changes greatly and irregularly, and obstacles such as monster stone are many, and the underwater robot among the prior art can't the complicated underwater environment of perception, and then leads to the underwater robot among the prior art to imitate the works such as stable shooting of grammar, video recording, and on hitting obstacles such as monster stone very easily at the removal in-process simultaneously, and then cause underwater robot's damage, reduce work efficiency, increase cost.

Therefore, it is desirable to design an underwater robot to solve the above technical problems in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an underwater robot which can sense and avoid obstacles in the surrounding environment, so that the underwater robot can stably work underwater, and the stability and the applicability of the underwater robot are improved.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the present invention provides an underwater robot comprising:

a body;

a hollow post connected with the body,

a first detector disposed at a front end of the hollow column to enable the first detector to detect an obstacle in a first direction;

a second detector disposed below the hollow column such that the second detector can detect the obstacle in a second direction;

a third detector disposed at a first side of the hollow column such that the third detector can detect the obstacle in a third direction;

a fourth detector disposed at a second side of the hollow column such that the fourth detector can detect the obstacle in a fourth direction;

the driving module is arranged inside the body and can drive the body to move so as to avoid the barrier.

As an alternative, the hollow columns include a first hollow column and a second hollow column, and the first hollow column and the second hollow column are symmetrically disposed on the side of the body.

As an alternative, a circuit board and a positioning emitter are installed inside each of the first hollow column and the second hollow column, the circuit board is connected with the positioning emitter, and the positioning emitter is respectively connected with the first detector, the second detector, the third detector and the fourth detector.

As an alternative, the body further comprises a power module electrically connected with the circuit board by a cable.

As an alternative, the first hollow column and the second hollow column are both connected with the side of the body by a snap.

As an alternative, the underwater robot comprises at least three groups of thruster modules, each group of thruster modules being connected to the drive module and each group of thruster modules being arranged on the body and at least three angles to the body.

As an alternative, each set of thruster modules comprises two thruster assemblies, and the two thruster assemblies are symmetrically arranged on the side of the body along the central axis of the body.

As an alternative, the propeller assembly includes a blade, and the drive module is electrically connected to the blade such that the drive module can drive the blade for rotation.

As an alternative, the propeller assembly further comprises a protective shell arranged on the circumferential side of the blades.

As an alternative, install the camera in the body, be provided with the visual window on the body, the camera can see through the visual window shoots the environment under water.

The utility model has the beneficial effects that: the underwater robot in this application detects the body forward, downwards, left and right barrier respectively through first detector, second detector, third detector and fourth detector to can be with this barrier signal transmission to controller, the controller can control drive module and drive the body, just so makes underwater robot can in time avoid the barrier, avoids barrier and underwater robot to bump, improves underwater robot's operating efficiency.

Drawings

Fig. 1 is a schematic structural diagram of an underwater robot provided in an embodiment of the present invention;

FIG. 2 is a schematic structural view of a first hollow column and a second hollow column provided in an embodiment of the present invention;

fig. 3 is a rear view of the underwater robot provided in the embodiment of the present invention.

Reference numerals:

1. a body; 11. a visual window; 12. a searchlight; 13. a charging interface; 14. a handle; 15. hooking;

2. a first hollow column; 3. a second hollow column;

4. a first detector; 5. a second detector; 6. a third detector; 7. a fourth detector;

8. buckling; 81. a cable; 9. a propeller assembly; 91. a blade; 92. and (4) a protective shell.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

An underwater robot in the prior art cannot accurately sense the surrounding environment, and further cannot avoid invisible or invisible obstacles, and cannot stably shoot and observe objects in a relatively complex water area. In order to solve the above technical problem, as shown in fig. 1, the present embodiment provides an underwater robot, which includes a body 1, a hollow column, a first detector 4, a second detector 5, a third detector 6, a fourth detector 7, and a driving module. Wherein, the hollow column is connected with the body 1; the first detector 4 is arranged at the front end of the hollow column, so that the first detector 4 can detect the obstacle along the first direction; the second detector 5 is arranged below the hollow column so that the second detector 5 can detect an obstacle in the second direction; the third detector 6 is arranged at the first side of the hollow column, so that the third detector 6 can detect the obstacle along the third direction; the fourth detector 7 is arranged on the second side face of the hollow column, so that the fourth detector 7 can detect the barrier along the fourth direction, the driving module is arranged inside the body 1, and the driving module can drive the body 1 to move so as to avoid the barrier.

Further, with continued reference to fig. 1, the present embodiment represents a first direction with the advancing direction of the underwater robot, a second direction with the lower side of the underwater robot, a third direction with the left side of the underwater robot, and a fourth direction with the right side of the underwater robot. Like this first detector 4 can detect the preceding barrier of body 1, and the barrier of body 1 below can be detected to second detector 5, and the barrier of body 1 left side can be detected to third detector 6, and the barrier of body 1 right side can be detected to fourth detector 7, through preceding, downwards, left and right four directions synchronous positioning for underwater robot can detect the barrier of surrounding environment under water in real time, avoids underwater robot and barrier to bump in the operation in-process. In this embodiment, a sonar device is selected for each of the first detector 4, the second detector 5, the third detector 6, and the fourth detector 7, and the echo positioning principle of the sonar device is used to detect an obstacle in four directions.

In this embodiment, body 1 is inside still to be provided with the controller, and the controller is connected with drive module electricity, and after the sonar detected the barrier, the sonar will this barrier signal transfer to controller, and controller control drive module drive body 1 moves in order to avoid the barrier and take place the collision with underwater robot.

Compared with the prior art, the underwater robot in this application detects the barrier of body 1 forward, downwards, four directions left and right respectively through first detector 4, second detector 5, third detector 6 and fourth detector 7, and can be with this barrier signal transmission to controller, the controller can control drive module and drive body 1, just so make underwater robot can in time avoid the barrier, avoid barrier and underwater robot to take place the collision, improve underwater robot's operating efficiency.

As shown in fig. 2, in the present embodiment, the hollow columns include a first hollow column 2 and a second hollow column 3, and the first hollow column 2 and the second hollow column 3 are symmetrically disposed on the side of the body 1. Preferably, the number of the first detectors 4, the number of the second detectors 5, the number of the third detectors 6 and the number of the fourth detectors 7 are two, the first hollow column 2 and the second hollow column 3 are provided with the first detector 4 and the second detector 5, the two third detectors 6 are arranged on the first side face of the first hollow column 2, and the two fourth detectors 7 are arranged on the second side face of the second hollow column 3, so that the four detectors are arranged on the first hollow column 2 and the second hollow column 3, and the gravity of the body 1 is balanced, the gravity center of the body 1 can be located on a central axis, and the underwater robot is prevented from side turning in the operation process. Simultaneously, same direction disposes two detectors, and the distance of two detectors keeps invariable, can detect the barrier more high-efficiently, accurately through two detectors of same direction like this.

Exemplarily, this embodiment selects two sonars as two first detectors 4 for detect the physics in front of body 1, two sonars can carry out intelligent calculation to the time difference of the sound wave that sends and receive, and then can lock the distance between barrier and the body 1 more accurately, thereby be favorable to improving underwater robot's operating efficiency.

In this embodiment, a circuit board and a positioning emitter are installed inside the first hollow column 2 and the second hollow column 3, the circuit board is connected with the positioning emitter, and the positioning emitter is connected with the first detector 4, the second detector 5, the third detector 6 and the fourth detector 7 respectively. The body 1 further includes a power module electrically connected to the circuit board through a cable 81. The power module supplies power for the circuit board so that the positioning transmitter can keep the electrified state, and then the positioning transmitter can be ensured to uninterruptedly transmit a positioning signal for detecting obstacles around the body 1.

As shown in fig. 1 and 2, in this embodiment, the first hollow column 2 and the second hollow column 3 are both connected with the side of the body 1 through the buckle 8, so that the first hollow column 2 and the second hollow column 3 can be conveniently detached from the body 1 when the underwater robot is cleaned or repaired in the later period, and the work efficiency of a user is improved. Of course, besides the connection form of the buckle 8, the user can also adopt the form of screw connection such as bolts and screws, so as to improve the stability and reliability of the connection between the first hollow column 2 and the body 1 and the second hollow column 3.

As shown in fig. 1, in the present embodiment, the underwater robot includes at least three groups of thruster modules, and each group of thruster modules is disposed on the body 1 and forms at least three angles with the body 1.

Further, the thruster module is a device for converting other forms of energy (such as electric energy and chemical energy) into mechanical energy, and then the underwater robot is driven to move by the relation between the acting force and the reacting force of the thruster module and the water. Preferably, three propeller modules of group are selected to this embodiment, and every propeller module of group sets up on body 1 and is three angle with body 1, and every propeller module of group sets up respectively at body 1's front end, terminal and tail end, and under the synergism of three propeller modules of group like this, underwater robot can carry out the arbitrary removal in aqueous, has improved underwater robot's the flexibility of removal.

Furthermore, each group of propeller modules comprises two propeller assemblies 9, and the two propeller assemblies 9 are symmetrically arranged on the side surface of the body 1 along the central axis of the body 1, so that the gravity center of the underwater robot can be balanced, and the phenomenon that the underwater robot turns on one side or even rolls over in the moving process is avoided.

As shown in fig. 1, in the present embodiment, the propeller assembly 9 includes a blade 91 and a shield 92, the driving module is electrically connected to the blade 91 so that the driving module can drive the blade 91 to rotate, and the shield 92 is disposed on the circumferential side of the blade 91.

Further, when the underwater robot normally works, the driving module can drive the blades 91 to rotate, so that the blades 91 drive the peripheral water flow to generate a vortex, and then a driving force is generated to drive the underwater robot to move. The protective shell 92 can effectively protect the blade 91, and prevent the blade 91 from colliding with underwater foreign matters in the rotating process, and meanwhile, the blade 91 can enhance the forming speed of the vortex, so that the working efficiency of the underwater robot can be further improved.

Alternatively, the blade 91 and the protective shell 92 in this embodiment may be made of a corrosion-resistant metal material such as stainless steel or carbon steel.

As shown in fig. 1, in the present embodiment, a camera is installed in the main body 1, and a visible window 11 is disposed on the main body 1, and the camera can shoot an underwater environment through the visible window 11. The user can set up a plurality of visual windows 11 at the front end of body 1 according to actual demand, and then is favorable to increasing observation field of vision scope, and the camera of body 1 inside is just to visual window 11, is favorable to the camera can in time shoot the environment under water, improves underwater robot's operating efficiency.

Referring to fig. 1, in the embodiment, the body 1 is further provided with a searchlight 12, which is convenient for illuminating an underwater environment and is beneficial for the camera to more clearly shoot a required photo or image. As shown in fig. 3, the tail end of the body 1 is further provided with a charging interface 13 and a lifting handle 14, the charging interface 13 can be connected with an external power supply, the charging of the power supply module inside the body 1 is facilitated, the lifting handle 14 is favorable for a user to lift and move the underwater robot, and the user can operate the underwater robot conveniently. In addition, the tail end of the body 1 is also provided with a hook 15, so that the underwater robot can be hung, stored and tidied.

The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.

Claims (10)

1. An underwater robot, comprising:

a body (1);

a hollow column connected with the body (1),

a first detector (4), the first detector (4) being disposed at a front end of the hollow column such that the first detector (4) can detect an obstacle in a first direction;

a second detector (5), the second detector (5) being disposed below the hollow column such that the second detector (5) can detect the obstacle in a second direction;

a third detector (6), the third detector (6) being arranged at a first side of the hollow column such that the third detector (6) is capable of detecting the obstacle in a third direction;

a fourth detector (7), the fourth detector (7) being disposed at a second side of the hollow column such that the fourth detector (7) is capable of detecting the obstacle in a fourth direction;

the driving module is arranged inside the body (1), and can drive the body (1) to move so as to avoid the barrier.

2. Underwater robot according to claim 1, characterized in that the hollow columns comprise a first hollow column (2) and a second hollow column (3), and that the first hollow column (2) and the second hollow column (3) are symmetrically arranged at the sides of the body (1).

3. Underwater robot according to claim 2, characterized in that the first (2) and second (3) hollow columns are internally provided with a circuit board connected thereto and with a positioning emitter connected respectively to the first (4), second (5), third (6) and fourth (7) probes.

4. Underwater robot according to claim 3, characterized in that the body (1) further comprises a power supply module, which is electrically connected with the circuit board by means of a cable (81).

5. Underwater robot according to claim 2, characterized in that the first hollow column (2) and the second hollow column (3) are each connected with the side of the body (1) by means of a snap (8).

6. An underwater robot according to claim 1, characterized in that it comprises at least three groups of thruster modules, each group of thruster modules being connected to the drive module and each group of thruster modules being arranged on the body (1) and making at least three angles with the body (1).

7. Underwater robot according to claim 6, characterized in that each group of thruster modules comprises two thruster assemblies (9), and that the two thruster assemblies (9) are arranged symmetrically on the sides of the body (1) along the centre axis of the body (1).

8. Underwater robot according to claim 7, wherein the thruster assembly (9) comprises a blade (91), and wherein the drive module is electrically connected to the blade (91) such that the drive module can drive the blade (91) in rotation.

9. Underwater robot according to claim 8, characterized in that the thruster assembly (9) further comprises a protective casing (92), which protective casing (92) is arranged at the periphery of the blade (91).

10. An underwater robot as claimed in any one of claims 1 to 9, characterized in that a camera is mounted in the body (1), a visual window (11) is provided on the body (1), and the camera can shoot underwater environment through the visual window (11).

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