CN220764632U - Positioning buoy of underwater robot - Google Patents
Positioning buoy of underwater robot Download PDFInfo
- Publication number
- CN220764632U CN220764632U CN202322714197.2U CN202322714197U CN220764632U CN 220764632 U CN220764632 U CN 220764632U CN 202322714197 U CN202322714197 U CN 202322714197U CN 220764632 U CN220764632 U CN 220764632U
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- axis
- underwater robot
- fixedly connected
- positioning buoy
- buoy
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- 239000004677 Nylon Substances 0.000 claims abstract description 49
- 229920001778 nylon Polymers 0.000 claims abstract description 49
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 8
- 238000005086 pumping Methods 0.000 claims description 6
- 238000007667 floating Methods 0.000 claims description 5
- 230000007797 corrosion Effects 0.000 claims description 4
- 238000005260 corrosion Methods 0.000 claims description 4
- 229920001903 high density polyethylene Polymers 0.000 claims description 4
- 239000004700 high-density polyethylene Substances 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims description 4
- 239000003822 epoxy resin Substances 0.000 claims description 3
- 229920000647 polyepoxide Polymers 0.000 claims description 3
- 238000012937 correction Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model discloses an underwater robot positioning buoy, which relates to the technical field of underwater robot positioning and comprises an upper hemisphere, wherein the bottom of the upper hemisphere is fixedly connected with a lower hemisphere, the surface of the lower hemisphere is fixedly connected with a y-axis supporting shell, the inner wall of the y-axis supporting shell is fixedly connected with a y-axis rotating rod in a fixed shaft rotating manner, the surface of the y-axis rotating rod is fixedly connected with a y-axis rotating encoder, the surface of the y-axis rotating rod is fixedly connected with an x-axis supporting shell, the inner wall of the x-axis supporting shell is fixedly connected with an x-axis rotating rod, the surface of the x-axis rotating rod is fixedly connected with an x-axis rotating encoder and a nylon rope, and the underwater robot positioning device is provided with an underwater positioning system which is used for carrying out error compensation by driving the x-axis rotating rod and the y-axis rotating rod through the nylon rope and is based on a differential GPS positioning system and combined with an IMU attitude sensor and a rotating encoder.
Description
Technical Field
The utility model relates to the technical field of underwater robot positioning, in particular to an underwater robot positioning buoy.
Background
The underwater robot is an automatic device with underwater observation and operation capability, and is widely applied to underwater operation tasks such as underwater searching, submarine exploration, submarine salvage, lifesaving and the like. The traditional underwater robot navigation positioning mode adopts an inertial measurement unit, sonar, laser, vision and other acousto-optic sensor fusion method to perform three-dimensional sensing and composition on the environment so as to position and navigate the robot.
When the underwater robot positioning buoy in the prior art is used, the underwater robot cannot propagate in water due to GPS signals, so that most underwater positioning adopts sonar exploration, inertial navigation and other methods, the hardware cost of a simple sonar exploration or inertial navigation positioning system is higher, the application range is narrower, the environment influence is larger, and a higher threshold is brought for realizing automation of the underwater robot.
Disclosure of Invention
The utility model aims to provide an underwater robot positioning buoy which is provided with an underwater positioning system for carrying out error compensation by combining an IMU attitude sensor and a rotary encoder based on a differential GPS positioning system by driving an x-axis rotary rod and a y-axis rotary rod to rotate through nylon ropes, so that the current horizontal plane position of an underwater robot is obtained, the underwater robot positioning buoy is simple in structure and low in cost, is less influenced by underwater environment, reduces the threshold for realizing automation of the underwater robot, and solves the problems mentioned in the background art.
In order to achieve the above purpose, the present utility model provides the following technical solutions: an underwater robot positioning buoy comprising:
the bottom of the upper hemisphere is fixedly connected with a lower hemisphere, and the surface of the lower hemisphere is fixedly communicated with a water pumping pipe;
the surface of the lower hemisphere is fixedly connected with a y-axis supporting shell, the inner wall of the y-axis supporting shell is fixedly connected with a y-axis rotating rod in a rotating way, and one end of the y-axis rotating rod penetrates through the y-axis supporting shell and is fixedly connected with a y-axis rotary encoder;
the X-axis rotary encoder comprises a Y-axis rotary rod surface fixed shaft, an X-axis support shell is connected to the Y-axis rotary rod surface fixed shaft in a rotating mode, an X-axis rotary rod is connected to the inner wall of the X-axis support shell in a fixed shaft rotating mode, one end of the X-axis rotary rod penetrates through the X-axis support shell and is fixedly connected with an X-axis rotary encoder, and a nylon rope is fixedly connected to the X-axis rotary rod surface.
Optionally, the upper hemisphere is set to circular hollow body material, and its inside is provided with differential GPS positioning system hardware equipment, adopts epoxy to carry out the waterproofing, the inside miniature suction pump that is provided with of lower hemisphere, cooperates outside suction pipe to carry out drainage.
Optionally, nylon rope fixed orifices have been seted up on x axle dwang surface for nylon rope's is fixed more firmly.
Optionally, the nylon rope is connected with the underwater robot by using 0 buoyancy and high-toughness nylon wires, one end of the nylon rope is connected with the underwater robot, the other end of the nylon rope is connected with a positioning buoy, and a section of the underwater robot is provided with a nylon wire winding and unwinding device, so that the nylon wire is wound and unwound according to the current depth of the underwater robot.
Optionally, the underwater robot body and the positioning buoy are both provided with an IMU posture sensor to monitor the posture of the underwater robot positioning buoy in real time.
Optionally, the materials used for the x-axis support shell and the y-axis support shell are corrosion-resistant HDPE.
Compared with the prior art, the utility model has the following beneficial effects:
1. according to the utility model, the x-axis supporting shell is driven to rotate by rotating the x-axis, and the y-axis rotating rod is driven to rotate by rotating the x-axis supporting shell, so that the positioning buoy and the underwater robot form stable relative positions and angles, the positioning buoy and the underwater robot are not influenced by the underwater complex environment, the effects of simple structure, low cost and wider application range are achieved, and the effect of realizing an automatic threshold of the underwater robot is reduced.
2. According to the utility model, the included angle formed by the nylon rope and the horizontal plane of the depth where the underwater robot is located is obtained by setting the data according to the x-axis rotary encoder and the y-axis rotary encoder, and the horizontal plane position of the positioning buoy relative to the underwater robot can be calculated by combining the length of the nylon wire and the included angle between the nylon wire and the horizontal plane of the depth where the underwater robot is located.
Drawings
FIG. 1 is a first perspective view of the overall structure of the present utility model;
FIG. 2 is a second perspective view of the overall structure of the present utility model;
FIG. 3 is a third perspective view of the overall structure of the present utility model;
FIG. 4 is a diagram showing an example of the operation of the positioning buoy of the present utility model.
In the figure: 1. an upper hemisphere; 2. a lower hemisphere; 3. a y-axis support housing; 4. an x-axis support housing; 5. an x-axis rotary encoder; 6. an x-axis rotating rod; 7. nylon rope fixing holes; 8. a y-axis rotary encoder; 9. a water pumping pipe; 10. and (3) rotating the rod on the y axis.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1 to 4, in this embodiment, an underwater robot positioning buoy is provided, which includes:
the bottom of the upper hemisphere 1 is fixedly connected with a lower hemisphere 2, and the surface of the lower hemisphere 2 is fixedly communicated with a water pumping pipe 9;
the surface of the lower hemisphere 2 is fixedly connected with a y-axis supporting shell 3, the inner wall of the y-axis supporting shell 3 is fixedly connected with a y-axis rotary rod 10 in a rotating way, and one end of the y-axis rotary rod 10 passes through the y-axis supporting shell 3 and is fixedly connected with a y-axis rotary encoder 8;
the surface fixed shaft rotation of the y-axis rotary rod 10 is connected with an x-axis support shell 4, the fixed shaft rotation of the inner wall of the x-axis support shell 4 is connected with an x-axis rotary rod 6, one end of the x-axis rotary rod 6 penetrates through the x-axis support shell 4 and is fixedly connected with an x-axis rotary encoder 5, and the surface of the x-axis rotary rod 6 is fixedly connected with a nylon rope.
More specifically, in the present embodiment: when the underwater robot positioning buoy is used, the water surface is released in a state that the robot hovers and does not work, the x-axis rotating rod 6 rotates to drive the x-axis supporting shell 4 to rotate, the y-axis rotating rod 10 is driven to rotate through the x-axis supporting shell 4, so that the positioning buoy and the underwater robot form stable relative positions and angles, the influence of an underwater complex environment is avoided, the device is simple in structure and low in cost, the threshold for realizing automation of the underwater robot is reduced, and the application range is wider.
The deflection condition of the x-axis rotary rod 6 and the y-axis rotary rod 10 on the buoy can be used at this moment, according to the data of the x-axis rotary encoder 5 and the y-axis rotary encoder 8, the included angle formed by the nylon rope and the horizontal plane of the depth where the underwater robot is located is obtained, the horizontal plane position of the positioning buoy relative to the underwater robot can be calculated by combining the length of the nylon rope and the included angle of the nylon wire and the horizontal plane of the depth where the underwater robot is located, the utility model can be combined with other mainstream positioning methods, and can be used as correction or compensation of the underwater system of the robot, the positioning precision is improved, and the application range is enlarged.
Further, in the present embodiment: the upper hemisphere 1 is made of round hollow floating body material, differential GPS positioning system hardware equipment is arranged in the upper hemisphere, epoxy resin is adopted for waterproof treatment, and a miniature water pump is arranged in the lower hemisphere 2.
More specifically, in the present embodiment: the circular hollow floating body material is more favorable for floating the positioning buoy, the equipment life is longer through the waterproof treatment of the epoxy resin, communication can be obtained when the positioning buoy is placed on the water surface, and the current position information of the buoy can be obtained through a differential GPS (global position system), the miniature water suction pump inside the lower hemisphere 2 works and cooperates with the external water suction pipe 9 to pump and drain water, so that the weight of the positioning buoy is adjusted, the positioning buoy floats on the water surface, the environmental influence on the positioning buoy is reduced, and the positioning quality is improved.
Further, in the present embodiment: nylon rope fixing holes 7 are formed in the surface of the x-axis rotating rod 6.
More specifically, in the present embodiment: the nylon rope fixing holes 7 enable the connection between the x-axis rotating rod 6 and the nylon rope to be firmer and more reliable, and environmental influence on the positioning buoy is reduced.
Further, in the present embodiment: the nylon rope is connected with the underwater robot through 0 buoyancy and high-toughness nylon wires, one end of the nylon rope is connected with the underwater robot, the other end of the nylon rope is connected with the positioning buoy, and the nylon wires are wound and unwound on one section of the underwater robot, so that the nylon wires are wound and unwound in a proper length according to the current depth of the robot.
More specifically, in the present embodiment: the positioning buoy is of a simple structure, is connected with the underwater robot by only one nylon wire, is less in factors influenced by the underwater environment, and can be retracted at any time when the robot encounters a complex underwater environment by the aid of the configured nylon wire retraction system, so that the operation efficiency of the robot is not influenced.
Further, in the present embodiment: the underwater robot body and the positioning buoy are respectively provided with an IMU attitude sensor so as to monitor the attitude of the underwater robot positioning buoy in real time.
More specifically, in the present embodiment: the length of the nylon wire is combined, the horizontal plane position of the positioning buoy relative to the underwater robot can be calculated by combining the nylon wire and the horizontal plane included angle of the depth of the nylon wire and the robot, the buoy is not necessarily in a state perpendicular to the horizontal plane due to waves on the water surface, at the moment, deflection data of the IMU state data, namely the x-axis rotating rod 6 and the y-axis rotating rod 10, need to be introduced for correction, and finally the current horizontal plane position of the underwater robot can be obtained by adding the corrected relative position data and the buoy differential GPS position data, so that the underwater robot is positioned more accurately, and the positioning quality is improved.
Further, in the present embodiment: the materials used for the x-axis support shell 4 and the y-axis support shell 3 are corrosion-resistant HDPE.
More specifically, in the present embodiment: the corrosion-resistant HDPE material enables the service lives of the x-axis support shell 4 and the y-axis support shell 3 to be longer, reduces the cost of positioning the buoy, enables the application range to be wider, and reduces the threshold for realizing automation of the underwater robot.
Working principle: when the underwater robot positioning buoy is used, the water surface is released in a state that the robot hovers and does not work, the miniature water suction pump in the lower hemisphere 2 works to pump and drain water in cooperation with the external water suction pipe 9, so that the weight of the positioning buoy is adjusted, the positioning buoy floats on the water surface, the environmental influence on the positioning buoy is reduced, and the positioning quality is improved.
When the positioning buoy is placed on the water surface, communication can be obtained, the current position information of the buoy is obtained through a differential GPS, the line length released by a nylon line winding and unwinding system of the underwater robot is as close as possible to the current depth of the robot, so that the position influence of water flow on the floating ball is avoided, but in the practical situation, the buoy always generates deflection, as long as the nylon line is always kept tight, namely, a nylon rope is in a straight line posture, the pull force of the nylon rope drives the x-axis rotating rod 6 to rotate, the x-axis rotating rod 6 rotates to drive the x-axis supporting shell 4 to rotate, and the x-axis supporting shell 4 rotates to drive the y-axis rotating rod 10 to rotate, so that the positioning buoy and the underwater robot form stable relative positions and angles without being influenced by the underwater complex environment.
The deflection condition of the x-axis rotary rod 6 and the y-axis rotary rod 10 on the buoy can be utilized at this moment, the included angle formed by the nylon rope and the horizontal plane of the depth of the underwater robot can be obtained according to the data of the x-axis rotary encoder 5 and the y-axis rotary encoder 8, the horizontal plane position of the positioning buoy relative to the underwater robot can be calculated by combining the length of the nylon rope and the included angle of the nylon rope and the horizontal plane of the depth of the underwater robot, because the water surface has waves, the buoy is not necessarily in a vertical horizontal plane state, the deflection data of the x-axis rotary rod 6 and the y-axis rotary rod 10 are required to be introduced at this moment, the current horizontal plane position of the underwater robot can be obtained by adding the differential GPS position data of the buoy to the corrected relative position data, and the novel positioning buoy can be combined with other mainstream positioning methods as correction or compensation of the underwater robot system, positioning precision is improved, and application range is enlarged.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An underwater robot positioning buoy, comprising:
the device comprises an upper hemisphere (1), wherein a lower hemisphere (2) is fixedly connected to the bottom of the upper hemisphere (1), and a water pumping pipe (9) is fixedly communicated with the surface of the lower hemisphere (2);
the surface of the lower hemisphere (2) is fixedly connected with a y-axis supporting shell (3), the inner wall of the y-axis supporting shell (3) is fixedly connected with a y-axis rotating rod (10) in a rotating way, and one end of the y-axis rotating rod (10) penetrates through the y-axis supporting shell (3) and is fixedly connected with a y-axis rotary encoder (8);
the X-axis rotary encoder comprises an X-axis rotary rod (10), an X-axis support shell (4) is fixedly connected to the surface of the Y-axis rotary rod (10) in a rotating mode, an X-axis rotary rod (6) is fixedly connected to the inner wall of the X-axis support shell (4) in a rotating mode in a fixed shaft mode, one end of the X-axis rotary rod (6) penetrates through the X-axis support shell (4) and is fixedly connected with an X-axis rotary encoder (5), and nylon ropes are fixedly connected to the surface of the X-axis rotary rod (6).
2. The underwater robot positioning buoy of claim 1, wherein: the upper hemisphere (1) is made of round hollow floating materials, differential GPS positioning system hardware equipment is arranged in the upper hemisphere, waterproof treatment is conducted through epoxy resin, a miniature water pump is arranged in the lower hemisphere (2), and water pumping and draining are conducted through cooperation with an external water pumping pipe (9).
3. The underwater robot positioning buoy of claim 2, wherein: nylon rope fixing holes (7) are formed in the surface of the x-axis rotating rod (6) and used for fixing nylon ropes more firmly.
4. An underwater robot positioning buoy as claimed in claim 3, characterized in that: the nylon rope is connected with the underwater robot by 0 buoyancy and high toughness nylon wire, one end of the nylon rope is connected with the underwater robot, the other end of the nylon rope is connected with the positioning buoy, one end of the underwater robot is provided with a nylon wire winding and unwinding device, and proper wire length winding and unwinding is carried out according to the current depth of the underwater robot.
5. The underwater robot positioning buoy of claim 1, wherein: the underwater robot body and the positioning buoy are respectively provided with an IMU attitude sensor so as to monitor the attitudes of the underwater robot and the positioning buoy in real time.
6. The underwater robot positioning buoy of claim 1, wherein: the materials used for the x-axis supporting shell (4) and the y-axis supporting shell (3) are corrosion-resistant HDPE.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322714197.2U CN220764632U (en) | 2023-10-10 | 2023-10-10 | Positioning buoy of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322714197.2U CN220764632U (en) | 2023-10-10 | 2023-10-10 | Positioning buoy of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220764632U true CN220764632U (en) | 2024-04-12 |
Family
ID=90598011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322714197.2U Active CN220764632U (en) | 2023-10-10 | 2023-10-10 | Positioning buoy of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220764632U (en) |
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2023
- 2023-10-10 CN CN202322714197.2U patent/CN220764632U/en active Active
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