RU173254U1 - Robotic swimming facility for research and underwater operations - Google Patents

Abstract

The utility model relates to the field of measuring and executive telecontrolled robotic means for servicing, repairing and periodically inspecting the surfaces of the hydraulic and oilfield infrastructure, namely, a variety of self-propelled robotic systems and devices that provide highly accurate inspection, including using non-destructive testing methods. the robotic swimming means comprises a remote control housing with thrust propellers, with dynamically coupled with a drive, made with the possibility of changing buoyancy, gearmotors installed in the housing, steering devices that clamp and fix the housing in a vertical position, each of which is mounted on the shaft of one of the gearmotors, a video camera mounted on the housing. of the proposed utility model is that as rotor-propeller thrusters with ballast capacity mounted on the sides of the housing, the roof of the housing is made in the form of a platform with with the possibility of placing technological equipment on it for research and repair work, steering devices are made in the form of screw propulsors installed in pairs in the front and rear parts of the body, and at least two video cameras are installed on the platform. In addition, an electronic communication module is installed in the body, the electronic control unit and the batteries, as well as the swimming means, are equipped with headlights located on the sides of the front and rear of the hull. the above design solutions can improve the operational characteristics of the proposed robotic floating means.

Description

The utility model relates to the field of measuring and executive telecontrolled robotic means for servicing, repairing and periodically inspecting the surfaces of the hydraulic and oilfield infrastructure, in particular to a variety of self-propelled robotic systems and devices that provide high-precision inspection, including using non-destructive testing, photo -video shooting and profiling of underwater, mainly vertically located and inclined surfaces of structures This can be used to automate technological operations (with reference to geographical and local coordinates), namely, to accurately determine deformations, chips, formed cracks, caverns and other defects on the surface and inside the object being examined, as well as providing the possibility of maintenance and repair , installation of additional equipment, cementation and other complex surface and underwater technical works, including in remote control mode.

A small-sized remote-controlled underwater inspection apparatus is known (Patent for the invention of the Russian Federation No. 2387570, filed December 29, 2008) containing a frame of modular design, horizontal and vertical propulsion, durable airtight containers for placing the electronic part of the underwater apparatus, lamps, survey and stationary video cameras , depth and temperature sensors, pressure compensators, buoyancy unit installed in the upper part of the underwater vehicle, manipulation module, a manipulator equipped with a grip, and airtight od. Moreover, the drive arm is mounted on the output shaft of this drive. The surface control module includes a control panel, a power source, an information display unit, and a communication cable connecting the underwater vehicle to the surface module. At the other end of the output shaft of the manipulator drive, a video camera is additionally installed so that its axis of sight is constantly directed to the center of the grip of the manipulator. The underwater vehicle is equipped with a removable perforated container for collecting samples. Surveillance video camera is installed by means of an arm above the buoyancy unit and the diametrical plane of the underwater vehicle in its aft.

A disadvantage of the known apparatus should be recognized as limited maneuverability, insufficient radius of action, insufficiency of recorded information, since the apparatus moves only along the bottom.

Also known is a technical tool - an autonomous uninhabited underwater vehicle of increased maneuverability for research and development of the deep sea (Patent for the invention of the Russian Federation No. 2101210, filed 04.23.1996), containing a streamlined body and propulsion system. The propulsion system consists of a group of nasal transverse movers, with one mover mounted in the vertical plane of the apparatus and the other in the horizontal plane. The feed group consists of three or four marching reversing propulsors. Reversible water-jet propulsors are installed as marching propulsion devices, which are located in the device’s body, in its aft part. Water-jet pipes, inlet and outlet nozzles of propulsors are rigidly fixed in the apparatus body.

Such a constructive solution of this technical tool significantly reduces the efficiency of its movement, mainly in the forward course due to the additional resistance created by the propulsion system. The presence of such a number of different propulsors complicates the design of the underwater vehicle, in general, and also reduces its operational reliability.

The closest in technical essence and the achieved result is an underwater robot with external propulsion devices (Patent for a utility model of the Russian Federation No. 132773, filed January 15, 2013), which contains an automatic body moved from the control unit with two support screws attached to its sides mover connected to the drive. Each of the four external movers includes an external mover housing, a screw drive mounted on the external mover housing.

 The robot casing is made with the possibility of changing the buoyancy due to the gearmotors installed in the casing, and steering devices that clamp and fix the casing in a vertical position, each of which is mounted on the shaft of one of the gearmotors.

 In addition, a video camera is installed on the robot body. Also, an accelerometer, an electronic compass and a control unit are mounted on the body of the underwater robot.

To carry out the movement of the underwater robot, the drives begin to rotate four screws at a certain speed, which makes his device move forward.

To make a right turn, the screw drives on the left side at a certain speed, while the underwater robot begins to move in an arc, making a turn. To make a left turn, the screws on the right side begin to turn.

To immerse and ascend the underwater robot, the screws rotate at a certain speed, the gear motors rotate the two steering devices by a predetermined angle, while forces are applied to the steering devices, including those directed in the vertical direction, which make the robot move in the vertical direction.

For video shooting, the robot body is oriented so that the object whose video you want to capture falls into the field of view of the video camera. After that, the camcorder starts shooting.

To carry out movement in a given direction in automatic mode, the control unit uses data received from an electronic compass and an ultrasonic sonar. It determines the distance to possible obstacles and controls the steering gear drives in such a way as to ensure the movement of the robot in a given direction, changing the speed of the bearings.

The disadvantages of the well-known underwater robot should be recognized as limited maneuverability due to the insufficient efficiency of control by the deferent (depth), realized by turning only two steering mechanisms in vertical movement.

Moreover, this underwater robot must have additional design solutions that provide positive buoyancy.

In addition, the above underwater robot has an insufficient radius of action, since it cannot move along the shore and along the bottom of a reservoir, as well as independently descend from shore to water, land and land. Therefore, the underwater robot prepared for work is lowered into the water from the carrier vessel, and after carrying out work using this vessel, it is returned to shore.

The presence of one video camera does not allow a detailed overview in the underwater space.

The presence of the above disadvantages leads to a decrease in the operational characteristics of the underwater robot, including autonomy and maneuverability in underwater and surface modes of movement.

The technical task of the proposed utility model is to increase the operational characteristics of a robotic swimming means for research and underwater operations.

This result is achieved by the fact that a robotic swimming means for research and underwater technical work contains a remote control housing with thrust propellers connected to the drive, made with the possibility of changing buoyancy, gear motors installed in the housing, steering devices that provide pressure and fixing the housing in an upright position, each of which is mounted on the shaft of one of the gearmotors, a video camera mounted on the housing, ACCORDING TO THE NEW OFFER GUAMED MODELS As rotor-propeller thrusters with ballast capacity mounted on the sides of the hull, the roof of the hull is made in the form of a platform with the possibility of placing technological equipment on it for research and repair work, steering devices are made in the form of screw thrusters installed in pairs in the front and rear of the case, and at least two cameras are installed on the platform.

Moreover, an electronic communication module, an electronic control unit and rechargeable batteries are installed in the housing of the robotic swimming facility.

The proposed robotic tool for research and underwater operations is shown in FIG. 1, 2 and 3.

The figure 1 depicts a swimming tool - top view.

The figure 2 shows a swimming means - side view.

The figure 3 shows a swimming means - front view.

A robotic swimming means for carrying out research and underwater technical operations comprises a telecontrolled housing 1 with thrust propellers 2 connected to the drive, configured to change buoyancy. Gearmotors 3 installed in the housing 1, steering devices 4, provide clamping and fixing of the housing in a vertical position, each of which is mounted on the shaft of one of the gearmotors 3. Video cameras 5 are mounted on the platform 6. As supporting screw drives 2 rotor-screw propellers with ballast capacity are installed, which are a hollow cylinder 7 with screw elements located on its lateral surface 8. Rotor-screw propellers 2 are located on the sides of the housing 1. The roof of the housing 1 is made in the form of Lattforms 6 with the possibility of placing technological equipment on it for research and repair work. On the platform 6 there is an electronic device for receiving and transmitting information located inside the buoy 9. The steering devices are made in the form of screw propellers 4, installed in pairs in the front and rear parts of the housing 1.

Moreover, an electronic communication module, a control unit, rechargeable batteries for operating the means, a rechargeable battery control unit (not shown) are installed in the housing 1 of the indicated robotic swimming means.

In addition, on the sides on the front and rear parts of the housing 1, on two sides, illuminators are installed in the form of headlights 10.

The proposed robotic swimming means for research and underwater technical works as follows.

A robotic floating vehicle is delivered ashore, by means of rotary-propeller propellers 2 it is launched onto the water and moved to the place of examination, while the hollow cylinder 7, which is a ballast tank, provides buoyancy for this tool. Upon arrival at the survey site, buoy 9 with a radio station descends from platform 6 onto the water, providing information from the coast operator and sending commands to the swimming facility. If it is necessary to immerse the robotic means, a pump (not shown) located inside the rotor 2, pumps water into the ballast tank 7 depending on the given immersion, and the robotic means is lowered into the water. The vertical position of the robotic swimming means is controlled by four steering propellers 4.

The coastal operator uses radio communications to transmit commands to buoy 9.

Upon receipt of the command "movement back and forth", the motors of the rotor-screw propellers 2 are turned on, and with the same speed. To effect rotation of the swimming means in a circle, one mover 2 is rotated forward and the other is rotated backward.

Upon receipt of the command to "move in the vertical position", the gearmotors of the steering propellers 4 are turned on, depending on the set speed, the higher the speed, the faster the descent or rise of the floating vehicle.

For video shooting, the body of the swimming means is oriented in such a way that the object under study falls into the field of view of the cameras 5.

The use of rotor-propeller propellers in the proposed technical solution at the same time provides positive buoyancy for a robotic floating vehicle, as well as the possibility of its movement along the shore, on water and under water, including independent mooring and ashore, which excludes the use of a carrier vessel thereby expanding the functionality of the swimming means.

In addition, rotor-propeller propellers make it possible for a robotic floating vehicle to move along weakly bearing soils, silt, marshy terrain, along the snow cover of the coast, along the ice of the surface of the reservoir.

The installation of several cameras on the platform allows a detailed overview of underwater equipment and space in a wide range of viewing angles.

The installation of four steering devices in the form of screw propellers makes it possible to increase the speed of regulation of vertical movement and stabilization of a robotic swimming means in the water, which increases its maneuverability.

The placement of technological equipment on the platform allows the installation and replacement of technological equipment used for different types of research, which leads to an expansion of the arsenal of technical means and ease of use.

The above design solutions can improve the operational characteristics of the proposed robotic floating means, providing the ability to search for underwater objects, inspection of the bottom of the reservoir, examination of underwater technical and hydraulic structures, inspection of oil drilling platforms, inspection of bridge supports and other similar works.

Claims (3)

1. A robotic swimming device comprising a remote-controlled housing with thrust propellers connected to a drive configured to change buoyancy, gear motors installed in the housing, steering devices that provide pressure and fixation of the housing in a vertical position, each of which is fixed to the shaft of one of the gearmotors, a video camera mounted on the housing, characterized in that the rotor-screw propellers with a ballast capacity of located on the sides of the case, the roof of the case is made in the form of a platform with the possibility of placing technological equipment on it for research and repair work, steering devices are made in the form of screw propulsors installed in pairs in the front and rear parts of the case, and at least on the platform two camcorders. 2. The robotic swimming device according to claim 1, characterized in that an electronic communication module, an electronic control unit and rechargeable batteries are installed in the housing. 3. The robotic swimming device according to claim 1, characterized in that it is equipped with lighting headlights located on the sides of the front and rear of the hull.

Images