RU132773U1 - OUTDOOR ROBOT WITH EXTERNAL MOTORS - Google Patents

Abstract

1. An underwater robot with external movers, consisting of a body, characterized in that four external movers, a video camera, two drives are fixed to the body, and a steering wheel is mounted on the output shaft of each of these drives; an accelerometer, an electronic compass and a control unit are also attached to the body; each of the four external movers includes an external mover body, a screw drive mounted on the external mover body, and a screw connected to the screw drive shaft. 2. An underwater robot with external propellers according to claim 1, characterized in that an ultrasound sonar is additionally introduced.

Description

The utility model relates to self-propelled vehicles.

A vehicle is known (RF patent No. 24987 U1 IPC B63G8 / 00, 2002), characterized in that it contains a robust housing, mainly cigar-shaped, with a number of compartments-compartments, soft pumped chambers outside the durable housing, power and propulsion systems, a transmission mechanism movements from the engine to the propulsion unit, steering devices and their hydraulic control systems, controlled by the position of the mast snorkel for air intake from the atmosphere and a review of the situation on the water surface, soft pumped cameras, being air floats with adjustable external geometry to change the buoyancy and hydraulic resistance of the device, are installed on the upper part of the body and combined with a controlled pneumatic system with a compressor and a mast snorkel, as well as with an emergency high-pressure air system.

The disadvantage of this technical solution is the low maneuverability.

The objective of the utility model is to give the device higher maneuverability.

The problem is solved in that the underwater robot with external movers comprises a housing, four external movers fixed to the housing, each of which includes an external mover housing, a screw drive mounted on the external mover housing, a screw connected to the screw drive shaft; also an underwater robot with external propulsion includes a video camera mounted on the robot body and two rotation drives mounted on the robot body, whose shafts are connected to the rudders; The robot also includes an accelerometer, an electronic compass and a control unit. Also, the device may include an ultrasonic sonar mounted on the body of the robot. Due to the ability to turn the rudders relative to the hull, and thanks to external movers carried outside the hull, increased maneuverability is achieved.

Figure 1 shows an underwater robot with external propulsion (top view, section).

Figure 2 shows an underwater robot with external propulsion during the dive (side view)

Figure 3 shows an underwater robot with external propulsion during the ascent process (side view)

Figure 4 shows an underwater robot with external propulsion with an additionally introduced ultrasonic sonar

The underwater robot with external drives consists of a housing 1, four external drives, a video camera 2, two drives 3, an accelerometer 4, an electronic compass 5 and a control unit 6, mounted on the housing 1, and the steering wheel 7 is fixed to the output shaft of each drive 3; each of the four external movers includes an external mover housing 8, a screw drive 9 mounted on the external mover housing 8, a screw 10 connected to the drive shaft of the screw 9; Also, the device may include an ultrasonic sonar 11, mounted on the housing 1.

Underwater robot with external propulsion works as follows.

For moving forward, the screw drives 9 begin to rotate the screws 10 at a certain speed, which causes the device to move forward.

To make a right turn, the screw drives 9 on the left side begin to turn the screws 10 at a certain speed, while the device starts to move in an arc, making a turn. To make a left turn, the screw drives 9 on the right side begin to rotate the screws 10 at a certain speed, while the device starts to move in an arc, making a turn. Also, for the implementation of the rotation, it is possible to rotate the screws of one side with a lower angular velocity, compared with the other side.

To implement immersion and ascent, the drives of the screw 9 begin to rotate the screws 10 at a certain speed, while the two drives 3 rotate the rudders 7 by a predetermined angle. Thus to the rudders 7 are applied forces directed, including in the vertical direction, which cause the robot to move in the vertical direction.

For video recording, the robot orientates the body of the robot 1 so that the object whose video you want to capture falls into the field of view of the video camera 5. After that, the video camera 5 starts to video.

To carry out movement in a given direction in automatic mode, the control unit 6 uses the data received from the electronic compass 5 and the ultrasonic sonar, determines the distance to possible obstacles and controls the drives of the screw 3 in such a way as to ensure the movement of the robot in a given direction, changing the speed of rotation of the screws 10.

To determine the presence of a roll, the control unit 6 analyzes the data received from the accelerometer 4. If the data from the accelerometer 4 show the presence of a roll greater than a certain value, then the actuators 3 turn the rudders 7 in such a way as to reduce the roll.

In the process, the robot can use ultrasonic sonar 11 to identify obstacles.

Using an underwater robot with external propulsion will expand the scope of the technical solution due to tasks requiring higher maneuverability.

Claims (2)

1. An underwater robot with external movers, consisting of a body, characterized in that four external movers, a video camera, two drives are fixed to the body, and a steering wheel is mounted on the output shaft of each of these drives; an accelerometer, an electronic compass and a control unit are also attached to the body; each of the four external movers includes an external mover body, a screw drive mounted on the external mover body, and a screw connected to the screw drive shaft. 2. An underwater robot with external propellers according to claim 1, characterized in that an ultrasound sonar is additionally introduced.

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