CN218751317U - Dual-mode underwater fishing robot - Google Patents
Dual-mode underwater fishing robot Download PDFInfo
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- CN218751317U CN218751317U CN202222301229.1U CN202222301229U CN218751317U CN 218751317 U CN218751317 U CN 218751317U CN 202222301229 U CN202222301229 U CN 202222301229U CN 218751317 U CN218751317 U CN 218751317U
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Abstract
The utility model discloses a dual mode underwater fishing robot in the technical field of underwater robots, including an installation frame and an underwater cabin body, the underwater cabin body is installed at the middle part of the installation frame, a horizontal propeller is installed at the top of the underwater cabin body, a sinking and floating propeller is installed at the bottom of the underwater cabin body, a camera and a sensor are installed in a front waterproof cover of the underwater cabin body, an arm is installed at the lower side of the underwater cabin body on the installation frame, the inside of the underwater cabin body comprises an information processing system and a control system, the utility model discloses an information processing system collects underwater environment information, the motion attitude and the internal state information of a robot, and the control system carries out the drive control of each module, carries out danger early warning and signal transmission; through setting up the arm, the gripper snatchs when object and fixed the object, and the mode that rethread flotation pontoon pulled makes the object leave the bottom.
Description
Technical Field
The utility model relates to an underwater robot technical field specifically is double mode fishing robot under water.
Background
The fishing robot products on the market need huge cost for daily maintenance, once a problem occurs, the maintenance period is long, the process is delayed, and a plurality of pieces do not have good cooperation capability.
Most of the cleaning and fishing devices are applied to cleaning and fishing of floaters on the water surface, and underwater (shallow water areas) have fewer products corresponding to requirements and lack of a complete system.
And product single cost of the same type is high on the market, is not suitable for extensive coastal waters clearance salvage and still stops the manual work to salvage to the salvage of coastal waters rubbish, and this kind of method can't salvage and more dangerous for 24 hours, based on this, the utility model designs a dual mode is salvaged the robot under water to solve above-mentioned problem.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a double mode is salvaged robot under water to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: double mode is salvaged robot under water, including the installation frame and the cabin body under water, the cabin body is installed at the middle part of installation frame under water, the horizontal propeller is installed at the top of the cabin body under water, the bottom installation ups and downs propeller of the cabin body under water, install camera and sensor in the anterior buckler of the cabin body under water, the arm is installed to the downside that lies in the cabin body under water in the installation frame, the inside of the cabin body under water includes information processing system, control system, and the information of each sensor of information processing system gathers in real time, handles to submit for control system again.
Preferably, the top of the installation frame is also provided with an LED illuminating lamp.
Preferably, the arm includes the frame, install a plurality of clamping jaws on the frame, the clamping jaw includes connecting rod one, connecting rod two and chuck, connecting rod one and connecting rod two all articulate on frame and chuck, still install the motor on the frame, connecting screw on the output of motor, threaded connection drive block on the screw rod, the articulated branch of drive block, the other end of branch articulates on connecting rod two.
Preferably, the information processing system comprises an image processing module, an in-cabin detection module and an attitude sensing module;
the image processing module is used for shooting image information through a camera and carrying out marine garbage recognition and classification; the cabin detection module monitors the inside of the cabin in real time through a temperature and humidity sensor; and the attitude sensing module sends the underwater attitude of the robot to the control system in real time through the attitude sensor.
Preferably, the control system comprises a driving module, a safety module, a communication module and a working module, and commands each module to work by receiving each instruction sent by the information processing system;
the driving module controls the attitude balance of the underwater robot by using the sliding mode variable structure; the safety module comprises an in-cabin detection module, when danger is detected out in the cabin, the robot floats upwards emergently by discarding an external counter weight through the mechanical arm, the communication module adopts two signal transmission modes of wireless transmission and wired transmission, and the working module is used for driving the mechanical arm to operate.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model collects the underwater environment information, the motion attitude and the internal state information of the robot through the information processing system, and the control system carries out the driving control of each module to carry out the danger early warning and the signal transmission;
through setting up the arm, the gripper snatchs when object and fixed the object, and the mode that rethread flotation pontoon pulled makes the object leave the bottom.
The underwater remote control robot realizes autonomous cruising and independent work of the underwater robot through image recognition and sliding mode variable structure control. Two modes of wired transmission and wireless transmission are adopted. Leading the wireless transmission module out of the water surface through a wire, manufacturing a cabin body for the wireless transmission module, and additionally installing an independent power supply and a driving motor; when the underwater cabin body has serious problems, the underwater cabin body can be brought back by manual remote control.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of another perspective structure of fig. 1 according to the present invention;
fig. 3 is a schematic view of the mechanical arm structure of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1-underwater cabin body, 2-installation rack, 3-horizontal propeller, 4-sinking and floating propeller, 5-camera, 6-LED-, illuminating lamp, 7-mechanical arm, 701-machine base, 702-first connecting rod, 703-second connecting rod, 704-chuck, 705-driving block, 706-motor and 707-screw rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: the dual-mode underwater fishing robot comprises an installation rack 2 and an underwater cabin body 1, wherein the underwater cabin body 1 is installed in the middle of the installation rack 2, and the underwater fishing robot is further provided with a propulsion system which is a horizontal propeller 3 and a sinking-floating propeller 4. The top of the underwater cabin body 1 is provided with a horizontal propeller 3, and the bottom of the underwater cabin body 1 is provided with a sinking propeller 4.
The underwater cabin body 1 comprises an information processing system and a control system, and information of each sensor of the information processing system is collected in real time and is processed and then submitted to the control system.
The information processing system comprises an image processing module, an in-cabin detection module and an attitude sensing module;
the image processing module consists of two cameras and an image recognition and algorithm. The image processing module is used for shooting image information through a camera and carrying out marine garbage recognition and classification; the front waterproof cover of the underwater cabin body 1 is internally provided with a camera 5 and a sensor, the two cameras are positioned at the front end of the robot, the image recognition and algorithm mainly simulates the characteristics of low contrast, low definition and blue-green of an underwater image, marine garbage recognition and classification are carried out on the basis of Mask-RCNN, and the image is processed by adopting an algorithm similar to 'inverse dark channel defogging'. The cabin detection module monitors the inside of the cabin in real time through a temperature and humidity sensor; and the attitude sensing module sends the underwater attitude of the robot to the control system in real time through the attitude sensor.
The top of the installation frame 2 is also provided with an LED illuminating lamp 6 which is matched with the image acquisition of the image processing module.
The control system comprises a driving module, a safety module, a communication module and a working module, and commands each module to work by receiving each instruction sent by the information processing system;
the driving module controls the attitude balance of the underwater robot by using a sliding mode variable structure, the underwater robot motion is six-degree-of-freedom space motion and has the characteristics of nonlinearity, strong coupling and uncertain fluid dynamics parameters, so that a control system needs strong robustness so as to overcome external interference and uncertainty of an unmodeled dynamic model, and meanwhile, the underwater robot has self-adaptive capability. The input value is calculated through an algorithm, and different thrusts are represented according to different duty ratios of the driving motor, so that the duty ratio is adjusted to achieve the expected thruster thrust.
The safety module comprises an in-cabin detection module, when danger is detected in the cabin, the robot is enabled to emergently float by discarding an external counter weight through the mechanical arm 7, the communication module adopts two signal transmission modes of wireless transmission and wired transmission, in order to increase a manual controllability scheme, an antenna (subjected to waterproof treatment) is led out from the interior of the robot to the water surface, the problem that the radio cannot transmit across media can be avoided, an upper computer sends an instruction, JSON unifies receiving and issuing formats of the two parties, and floating, submerging, advancing, retreating and left-right sliding can be carried out, so that the requirement for controlling the robot is met.
The working module is used for driving the mechanical arm 7 to operate. The underwater cabin body 1 is characterized in that a mechanical arm 7 is arranged on the lower side of the underwater cabin body 1 on the mounting frame 2, the mechanical arm 7 comprises a base 701, a plurality of clamping jaws are arranged on the base 701, each clamping jaw comprises a first connecting rod 702, a second connecting rod 703 and a clamping head 704, the first connecting rod 702 and the second connecting rod 703 are hinged to the base 701 and the clamping head 704, a motor 706 is further arranged on the base 701, a screw rod 707 is connected to the output end of the motor 706, a driving block 705 is in threaded connection with the screw rod 707, the driving block 705 is hinged to a support rod, and the other end of the support rod is hinged to the second connecting rod 703.
In the aspect of working, the mechanical claw can grab an object and fix the object through a mechanical structure, and the object is separated from the water bottom through the traction mode of the buoy. The screw 707 is rotated by the motor 706 to drive the driving block 705 to perform reciprocating linear motion, the driving block 705 drives the second connecting rod 703 to swing through the supporting rod, and the second connecting rod 703 drives the first connecting rod 702 to complete clamping with a parallelogram mechanism formed by the chuck 704 and the base 701. The screw 707 can screw the screw into the clamped object while clamping, and the clamped object is better fixed.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," 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 the invention. In this specification, the schematic representations of the terms used above do not necessarily 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.
The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to best understand the invention and its practical application. The present invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. Double mode is salvaged robot under water, including installation frame (2) and the cabin body (1) under water, its characterized in that: the underwater vehicle is characterized in that the underwater vehicle body (1) is installed in the middle of the installation rack (2), a horizontal propeller (3) is installed at the top of the underwater vehicle body (1), a sinking and floating propeller (4) is installed at the bottom of the underwater vehicle body (1), a camera (5) and a sensor are installed in a front waterproof cover of the underwater vehicle body (1), a mechanical arm (7) is installed on the lower side of the underwater vehicle body (1) on the installation rack (2), the underwater vehicle body (1) comprises an information processing system and a control system, information of each sensor of the information processing system is collected in real time, and the information is processed and then submitted to the control system.
2. The dual mode subsea fishing robot of claim 1, wherein: and the top of the mounting rack (2) is also provided with an LED illuminating lamp (6).
3. The dual mode subsea fishing robot of claim 1, wherein: the mechanical arm (7) comprises a base (701), a plurality of clamping jaws are installed on the base (701), each clamping jaw comprises a first connecting rod (702), a second connecting rod (703) and a clamping head (704), the first connecting rod (702) and the second connecting rod (703) are both hinged to the base (701) and the clamping head (704), a motor (706) is further installed on the base (701), a screw rod (707) is connected to the output end of the motor (706), a driving block (705) is in threaded connection with the screw rod (707), the driving block (705) is hinged to a supporting rod, and the other end of the supporting rod is hinged to the second connecting rod (703).
4. The dual mode subsea fishing robot of claim 1, wherein: the information processing system comprises an image processing module, an in-cabin detection module and an attitude sensing module;
the image processing module is used for shooting image information through a camera and carrying out marine garbage recognition and classification; the cabin detection module monitors the inside of the cabin in real time through a temperature and humidity sensor; and the attitude sensing module sends the underwater attitude of the robot to the control system in real time through the attitude sensor.
5. The dual mode subsea fishing robot of claim 1, wherein: the control system comprises a driving module, a safety module, a communication module and a working module, and commands each module to work by receiving each instruction sent by the information processing system;
the driving module controls the attitude balance of the underwater robot by using the sliding mode variable structure; the safety module comprises an in-cabin detection module, when danger is detected out of the in-cabin detection module, the robot can float upwards emergently by discarding an external counter weight through the mechanical arm (7), the communication module adopts two signal transmission modes of wireless transmission and wired transmission, and the working module is used for driving the mechanical arm (7) to operate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222301229.1U CN218751317U (en) | 2022-08-30 | 2022-08-30 | Dual-mode underwater fishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222301229.1U CN218751317U (en) | 2022-08-30 | 2022-08-30 | Dual-mode underwater fishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218751317U true CN218751317U (en) | 2023-03-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222301229.1U Active CN218751317U (en) | 2022-08-30 | 2022-08-30 | Dual-mode underwater fishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218751317U (en) |
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2022
- 2022-08-30 CN CN202222301229.1U patent/CN218751317U/en active Active
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