WO2020034400A1 - 一种远程控制的水下智能机器人 - Google Patents

一种远程控制的水下智能机器人 Download PDF

Info

Publication number
WO2020034400A1
WO2020034400A1 PCT/CN2018/112588 CN2018112588W WO2020034400A1 WO 2020034400 A1 WO2020034400 A1 WO 2020034400A1 CN 2018112588 W CN2018112588 W CN 2018112588W WO 2020034400 A1 WO2020034400 A1 WO 2020034400A1
Authority
WO
WIPO (PCT)
Prior art keywords
fixed
underwater
intelligent robot
platform body
cable
Prior art date
Application number
PCT/CN2018/112588
Other languages
English (en)
French (fr)
Inventor
侯鹏
Original Assignee
深圳潜水侠创新动力科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810920903.XA external-priority patent/CN108750024A/zh
Priority claimed from CN201821303643.3U external-priority patent/CN209426997U/zh
Priority claimed from CN201810920783.3A external-priority patent/CN108750045B/zh
Priority claimed from CN201821303765.2U external-priority patent/CN208915381U/zh
Application filed by 深圳潜水侠创新动力科技有限公司 filed Critical 深圳潜水侠创新动力科技有限公司
Publication of WO2020034400A1 publication Critical patent/WO2020034400A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels

Definitions

  • the utility model relates to the technical field of intelligent monitoring on the water, in particular to a remotely controlled underwater intelligent robot.
  • underwater robots can perform applications such as underwater sightseeing, diving and shooting, underwater operations, environmental protection monitoring, and damage identification; as people's activities expand more and more underwater, underwater robots
  • Product integration is also getting higher and more complex.
  • the volume and weight of the entire product have also increased significantly in parallel; the underwater operation of the robot has become more difficult.
  • radio signals cannot be transmitted directly under water; underwater robots cannot complete remote control, which brings great inconvenience to marine exploration.
  • the purpose of the present utility model is to provide a remotely controlled underwater intelligent robot aiming at the defects and deficiencies of the prior art.
  • the remotely controlled underwater intelligent robot includes a data cable, a water surface carrying platform capable of floating on the water surface, a cable winding device for winding the data cable, and an underwater robot;
  • the cable winding device is fixed on the surface-mounted platform;
  • the data cable is used for data transmission between the surface-mounted platform and the underwater robot;
  • the surface-mounted platform is provided with a device for data transmission with the terminal device.
  • Wireless module includes a data cable, a water surface carrying platform capable of floating on the water surface, a cable winding device for winding the data cable, and an underwater robot;
  • the cable winding device is fixed on the surface-mounted platform;
  • the data cable is used for data transmission between the surface-mounted platform and the underwater robot;
  • the surface-mounted platform is provided with a device for data transmission with the terminal device.
  • Wireless module is provided with a device for data transmission with the terminal device.
  • the underwater robot includes a waterproof sealed cabin; an end of the data cable is fixed on the waterproof sealed cabin; a panoramic camera device, a walking mechanism, an underwater mechanical arm group and a propulsion are respectively arranged outside the waterproof sealed cabin.
  • Mechanism; the underwater robot arm group is composed of two underwater robot arms; the panoramic camera device and the underwater robot arm group are both fixedly arranged on the side wall of the waterproof sealed cabin; the two underwater robot arms are respectively symmetrically arranged On the left and right sides of the panoramic camera device; a protective frame is fixed to the outside of the waterproof sealed cabin; and the propulsion mechanism is disposed inside the protective frame.
  • the panoramic camera device includes a panoramic camera, a first support rod, a camera swing angle steering gear, a second support rod, and a mounting base; one end of the second support rod is fixed on the protection frame through the mounting base; The housing of the camera swing angle servo is fixed at the other end of the second support rod; the output end of the camera swing angle servo is fixedly connected to one end of the first support rod; and the panoramic camera is fixed at the other end of the first support rod.
  • the underwater mechanical arm includes a first joint steering gear, a second joint steering gear, a swing arm, and a fixing rod; a shell of the first joint steering gear is fixed on a waterproof sealed cabin; and the first joint steering gear
  • the output end of the second joint steering gear is fixedly connected to the housing of the second joint steering gear; the output end of the second joint steering gear is fixedly connected to one end of the swing arm; one end of the fixed rod is fixed to the other end of the swing arm;
  • An operation head is provided at the end; a supplementary light is fixed on the fixed rod; the supplementary light is disposed on an end of the fixed rod near the swing arm; and a light emitting direction of the supplementary light is directed to the operation head.
  • the walking mechanism includes a crawler bracket; the crawler bracket is fixed on a protection frame; crawler crawlers are fixed at both ends of the crawler bracket; and the crawler crawlers are symmetrically arranged on the left and right sides of the crawler bracket.
  • the propulsion mechanism is composed of a vertical thruster group and a horizontal thruster group;
  • the vertical thruster group is composed of a plurality of vertical thrusters evenly distributed on a waterproof sealed cabin;
  • the horizontal thruster group is composed of It consists of several horizontal thrusters evenly distributed on the waterproof sealed cabin; the pushing direction of the vertical thruster and the pushing direction of the horizontal thruster are arranged perpendicular to each other;
  • the vertical thruster is detachably installed on the waterproof sealed cabin
  • the horizontal thruster is detachably installed on the waterproof sealed cabin.
  • the water surface carrying platform includes a water surface carrying platform body; the shell of the water surface carrying platform body is a sealed housing; the outside of the water surface carrying platform body is fixed with a buoyancy ring; and the cable winding device is fixed at On the buoyancy ring; two platform thrusters are symmetrically arranged at the bottom of the buoyancy ring.
  • an ultrasonic receiving transducer device is fixed on the buoyancy ring; the ultrasonic receiving transducer device is composed of several ultrasonic receiving transducers; and the ultrasonic receiving transducer has a circle on the surface of the water-borne platform body Distribution; two adjacent ultrasonic receiving transducers are fixed to each other by a transducer connecting rod; the ultrasonic receiving transducers are each fixed with a transducer fixing rod; the transducer fixing rods are both fixed at The water surface is mounted on the platform body; the underwater robot is provided with an ultrasonic generator.
  • the cable winding device includes a winding motor and a telescopic winding device; one end of the data cable is wound on a rotating shaft of the telescopic winding device; the winding motor is fixed on the telescopic winding device; The output end of the winding motor is fixed on the rotating shaft of the telescopic wire reel; the data cable is connected to the surface-mounted platform body through the telescopic wire reel.
  • a positioning module, a communication module, and a power module are provided inside the casing of the surface-mounted platform body; the positioning module is used to obtain the geographic position information of the surface-mounted platform body; and the power module is used to mount the platform The body and the ultrasonic receiving transducer device are powered; the communication module is used for the communication connection between the surface-mounted platform body and the underwater robot and terminal equipment.
  • the beneficial effects of the present utility model are: a remotely controlled underwater intelligent robot according to the present utility model, the cable winding device is fixed on the water surface carrying platform; the data cable is used for the water surface carrying platform for communicating with Data transmission between underwater robots; a wireless module for data transmission with terminal equipment is set on the surface-borne platform.
  • the surface-mounted platform has sufficient buoyancy to ensure that the surface-mounted platform will never sink into the water; the surface-mounted platform passes the signal sent by the terminal device through an internal wireless module and passes; the surface-mounted platform passes through The internal processor controls the surface-mounted platform to move on the water surface after the processing.
  • the cable winding device winds or unwinds the data cable and transmits the data to the three parts of the underwater robot through the data cable. After the information collected by the lower robot is converted into electrical signals, it is transmitted to the terminal device through the data cable and the wireless module on the water surface platform; wireless remote control and data acquisition of the underwater robot are realized, which provides great convenience for sea area exploration.
  • FIG. 1 is a schematic structural diagram of the present invention
  • FIG. 2 is a schematic structural diagram of a panoramic camera device
  • FIG. 3 is a schematic structural diagram of an underwater robotic arm
  • FIG. 4 is a schematic structural diagram of a walking mechanism
  • FIG. 5 is a schematic diagram of the internal structure of the protective cover
  • FIG. 6 is a schematic view showing a structure in which a vertical thruster and a horizontal thruster are distributed on a waterproof sealed cabin;
  • FIG. 7 is a schematic structural diagram of an ultrasonic receiving transducer device
  • FIG. 8 is an installation structure diagram of a water surface carrying platform body, a platform thruster, and a buoyancy ring;
  • panoramic camera device 401, panoramic camera; 402, the first support rod;
  • the remotely-controlled underwater intelligent robot includes a data cable 2, a water surface carrying platform capable of floating on the water surface, and a cable retractor for winding the data cable 2.
  • Coiling device and underwater robot the cable winding device is fixed on the water surface carrying platform; the data cable 2 is used for the water surface carrying platform for data transmission with the underwater robot; and the water surface carrying platform is provided
  • the cable winding device winds or unwinds the data cable 2 and transmits the data through the data cable 2.
  • the information collected by the underwater robot is converted into electrical signals on the underwater robot through the data cable 2
  • the wireless module of the platform on the water and the surface is transmitted to the terminal device; wireless remote control and data collection of the underwater robot are realized, which provides great convenience for sea area exploration.
  • the underwater robot includes a waterproof sealed cabin 9; an end of the data cable 2 is fixed on the waterproof sealed cabin 9; and a panoramic camera device is respectively arranged outside the waterproof sealed cabin 9 4.
  • Walking mechanism 6 Underwater robot arm group and propulsion mechanism; the underwater robot arm group is composed of two underwater robot arms 5; the panoramic camera device 4 and the underwater robot arm group are fixedly arranged in a waterproof seal On the side wall of the cabin 9; two underwater mechanical arms 5 are symmetrically arranged on the left and right sides of the panoramic camera device 4, respectively; a protective frame 3 is fixed to the outside of the waterproof sealed cabin 9; and the propulsion mechanism is provided on the protective frame 3. internal;
  • a power supply module is provided inside the waterproof sealed cabin 9 for supplying power to the underwater robot; a protective frame 3 is used to protect the propulsion mechanism; the panoramic camera device 4, the walking mechanism 6, the underwater mechanical arm group and the propulsion mechanism all pass through the inside of the waterproof sealed cabin 9
  • the control board controls the movement; the power supply protection system is integrated on the control board inside the waterproof sealed compartment 9. The data is initialized after the power is turned on, and the system automatically detects the current status. When the current is too large, the system will promptly warn if there is no improvement.
  • the panoramic camera device 4 includes a panoramic camera 401, a first support rod 402, a camera swing angle steering gear 403, a second support rod 404, and a mounting seat 405; the second support One end of the rod 404 is fixed to the protective frame 3 through the mounting seat 405; the housing of the camera swing angle servo 403 is fixed to the other end of the second support rod 404; the output end of the camera swing angle servo 403 and one end of the first support rod 402
  • the camera 401 is fixed to the other end of the first support rod 402; the camera swing angle servo 403 is connected to the main control module provided in the waterproof sealed cabin 9, and the camera swing angle servo is controlled by the main control module.
  • 403 transmits an electric signal, and after the camera swing angle servo 403 is driven, the swing angle of the first support rod 402 is controlled to change the shooting angle of the panoramic camera 401.
  • the underwater mechanical arm 5 includes a first joint steering gear 501, a second joint steering gear 502, a swing arm 503, and a fixed rod 504;
  • the shell is fixed on the waterproof sealed compartment 9;
  • the output end of the first joint steering gear 501 is fixedly connected to the shell of the second joint steering gear 502;
  • the output end of the second joint steering gear 502 is fixedly connected with one end of the swing arm 503
  • One end of the fixed rod 504 is fixed to the other end of the swing arm 503; an operation head 505 is provided at the end of the fixed rod 504;
  • the fill light 10 is fixed on the fixed rod 504;
  • the fill light 10 is fixed The end of the lever 504 near the swing arm 503;
  • the light output direction of the fill light 10 is directed to the operation head 505; according to the work content of the underwater robotic arm 5,
  • the operation head 505 can be installed with a corresponding tool for operation, the first joint
  • the steering gear 501 and the second joint steering gear 502 are driven under the
  • the walking mechanism 6 includes a crawler bracket 602; the crawler bracket 602 is fixed on the protection frame 3; crawler crawler 601 is fixed at both ends of the crawler bracket 602;
  • the crawler track 601 is symmetrically arranged on the left and right sides of the track bracket 602; a drive mechanism for driving the track is provided inside the crawler track 601, and the drive mechanism is connected to a main control module provided in the waterproof sealed compartment 9.
  • the propulsion mechanism is composed of a vertical thruster group and a horizontal thruster group;
  • the vertical thruster group is composed of a plurality of vertical thrusters evenly distributed on the waterproof sealed compartment 9 7;
  • the horizontal thruster group is composed of several horizontal thrusters 8 evenly distributed on the waterproof sealed compartment 9; the thrust direction of the vertical thruster 7 and the thrust direction of the horizontal thruster 8 are arranged perpendicular to each other;
  • the vertical thruster 7 is detachably mounted on the waterproof sealed cabin 9;
  • the horizontal thruster 8 is detachably mounted on the waterproof sealed cabin 9;
  • the vertical thruster 7 and the horizontal thruster 8 are locked to the waterproof by bolts
  • the sealed cabin 9 is easy to disassemble;
  • the vertical thruster 7 and the horizontal thruster 8 are connected to the main control module provided in the waterproof sealed cabin 9;
  • the vertical thruster 7 and the horizontal thruster 8 are the same type of thruster , And there is no essential difference with the existing thrusters; each vertical thruster 7 and horizontal thruster 8 are controlled by the main control
  • the water surface mounting platform includes a water surface mounting platform body 1; the shell of the water surface mounting platform body 1 is a sealed housing; and a buoyancy ring is fixed to the outside of the water surface mounting platform body 1. 17; the cable winding device is fixed on the buoyancy ring 17; two platform thrusters 16 are symmetrically arranged at the bottom of the buoyancy ring 17; the platform thruster 16 is used to drive the surface-mounted platform body 1 to move on the water surface; The buoyancy ring 17 provides buoyancy for the entire underwater intelligent robot.
  • an ultrasonic receiving transducer device is fixed on the buoyancy ring 17; the ultrasonic receiving transducer device is composed of several ultrasonic receiving transducers 13; the ultrasonic receiving transducer The transducers 13 are distributed in a circle on the surface of the water-borne platform body 1; two adjacent ultrasonic receiving transducers 13 are fixed to each other through a transducer connecting rod 14; the ultrasonic receiving transducers 13 are each fixed with a transducer
  • the transducer fixing rod 15 is fixed on the water-borne platform body 1; the underwater robot is provided with an ultrasonic generator; the ultrasonic receiving transducer 13 receives ultrasonic waves generated inside the underwater robot.
  • the ultrasonic signals from the transducer are converted into data of electrical signals by the processor, and the relative position between the acoustic wave generator and the ultrasonic receiving transducer 13 is obtained.
  • the cable winding device includes a winding motor 11 and a telescopic winding device 12; one end of the data cable 2 is wound on a rotating shaft of the telescopic winding device 12;
  • the wire motor 11 is fixed on the telescopic wire reel 12; the output end of the wire winding motor 11 is fixed on the rotating shaft of the telescopic wire reel 12; the data cable 2 is connected to the surface-mounted platform body 1 through the telescopic wire reel 12
  • the telescopic reel 12 has no essential difference from the prior art; the controller on the surface of the platform is used to control the rotation of the winding motor 11 to realize the winding of the data cable 2 and control the depth of the underwater robot.
  • a positioning module, a communication module, and a power module are provided inside the casing of the surface-mounted platform body 1; the positioning module is used to obtain the geographical position information of the surface-mounted platform body 1;
  • the power module is used for powering the surface-mounted platform body 1 and the ultrasonic receiving transducer device; the communication module is used for the communication connection between the surface-mounted platform body 1 and the underwater robot and terminal equipment; the internal communication of the surface-mounted platform body 1
  • the module is used for data receiving signals from the underwater robot and terminal equipment; and the communication module can send signals to the underwater robot and terminal equipment.
  • the surface-mounted platform receives the signal through the internal wireless module.
  • the platform propellers are controlled to drive the surface-mounted platform body to move on the water; control the winding motor Rotate to rewind the data cable and control the depth of the underwater robot; transmit to the underwater robot through the data cable, and the camera swing angle servo is connected to the main control module set in the waterproof and sealed cabin; The camera swing angle servo sends electrical signals.
  • the swing angle of the first support rod is controlled to change the shooting angle of the panoramic camera. It is driven under the control of the main control module to make the fixed rod swing.
  • the function of the fill light is to fill the light underwater.
  • the crawler track is equipped with a drive mechanism for driving the crawler to crawl under the water.
  • Vertical propeller Both the horizontal thruster and the horizontal thruster are connected to the main control module provided in the watertight sealed cabin, and each vertical push is respectively performed by the main control module. And the horizontal thruster to control the movement status of the underwater robot in the water; the power supply protection system is integrated on the control board inside the watertight sealed cabin, and the data is initialized after the power is turned on.
  • the system will promptly prompt in advance, if there is no improvement, proactively stop power supply; if the measured power supply voltage value is too low, it will provide an early warning prompt, the power supply will automatically power off if the power supply continues to over discharge; when the voltage level is normal, the system will repeat the above process repeatedly Real-time detection of power supply working conditions to cope with unexpected abnormal conditions; meanwhile, the information collected by the underwater robot using the panoramic camera is converted into electrical signals on the underwater robot; transmitted to the terminal device through the data cable and the wireless module on the water surface platform .
  • the surface-mounted platform is used as a signal intermediary, and the activities of the underwater robot are remotely and wirelessly controlled through the terminal device, and the data collected by the underwater robot is transmitted to the terminal device through the surface-mounted platform, thereby realizing the wireless communication of the underwater robot.
  • Remote control and data collection provide great convenience for sea area exploration.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种远程控制的水下智能机器人，包括有数据电缆（2）、能够浮于水面的水面搭载平台（1）、用于数据电缆（2）收卷的线缆收卷装置和水下机器人。线缆收卷装置固定在水面搭载平台（1）上。数据电缆（2）用于水面搭载平台（1）与水下机器人之间的数据传输；水面搭载平台（1）上设置有用于与终端设备之间数据传输的无线模块。使用该水下智能机器人时，通过水面搭载平台对终端设备发出的控制信号进行处理，实现对水下机器人无线远程控制和数据采集，为海域探索提供便利。

Description

一种远程控制的水下智能机器人 技术领域
本实用新型涉及水上智能监控技术领域，特别涉及一种远程控制的水下智能机器人。
背景技术
伴随人类活动向海洋扩张，水下机器人可以进行水下观光，潜水跟拍，水下作业，环保监测，损伤识别等应用；随着人们的活动范围向水下扩展越来越多，水下机器人产品集成化程度也越来越高，越来越复杂。整套产品的体积和重量也同步大幅增加；机器人在水下的操作变得更加困难。但由于无线电信号在水下无法直接传播；所以水下机器人无法完成远程控制，给海上探险带来极大的不便。
故有必要对现有远程控制的水下智能机器人进行进一步地技术革新。
实用新型内容
本实用新型的目的在于针对现有技术的缺陷和不足，提供一种远程控制的水下智能机器人。
为实现上述目的，本实用新型采用的技术方案是：
本实用新型所述的一种远程控制的水下智能机器人，它包括有数据电缆、能够浮于水面的水面搭载平台、用于数据电缆收卷的线缆收卷装置和水下机器人；所述线缆收卷装置固定在水面搭载平台上；所述数据电缆用于水面搭载平台用于与水下机器人之间的数据传输；所述水面搭载平台上设置有用于与终端设备之间数据传输的无线模块。
进一步地，所述水下机器人包括有防水密封舱；所述数据电缆的末端固定在防水密封舱上；所述防水密封舱外分别设置有全景摄像装置、行走机构、水下机械臂组和推进机构；所述水下机械臂组由两个水下机械臂组成；所述全景摄像装置和水下机械臂组均固定设置在防水密封舱的侧壁上；两个水下机械臂分别对称设置在全景摄像装置的左右两侧；所述防水密封舱的外部固定有保护框；所述推进机构设置在保护框的内部。
进一步地，所述全景摄像装置包括有全景摄像头、第一支撑杆、摄像摆角舵机、第二支撑杆和安装座；所述第二支撑杆一端通过安装座固定在保护框上；所述摄像摆角舵机的外壳固定在第二支撑杆另一端；摄像摆角舵机的输出端与第一支撑杆一端相固定连接；所述全景摄像头固定在第一支撑杆另一端。
进一步地，所述水下机械臂包括有第一关节舵机、第二关节舵机、摆臂和固定杆；所述第一关节舵机的外壳固定在防水密封舱上；第一关节舵机的输出端与第二关节舵机的外壳相固定连接；所述第二关节舵机的输出端与摆臂一端相固定连接；所述固定杆一端固定在摆臂另一端；所述固定杆的末端设置有操作头；所述固定杆上固定有补光灯；所述补光灯设置在固定杆上靠近摆臂的一端；所述补光灯的出光方向指向操作头。
进一步地，所述行走机构包括有履带支架；所述履带支架固定在保护框上；所述履带支架的两端均固定有爬行履带；所述爬行履带对称设置在履带支架的左右两侧。
进一步地，所述推进机构由竖直推进器组和水平推进器组组成；所述竖直推进器组由若干个在防水密封舱上均布的竖直推进器；所述水平推进器组由若干个在防水密封舱上均布的水平推进器组成；所述竖直推进器的推进方向与水平推进器的推进方向相互垂直设置；所述竖直推进器可拆卸地安装在防水密封舱上；所述水平推进器可拆卸地安装在防水密封舱上。
进一步地，所述水面搭载平台包括有水面搭载平台本体；所述水面搭载平台本体的外壳为密封壳体；所述水面搭载平台本体的外部固定有浮力圈；所述线缆收卷装置固定在浮力圈上；所述浮力圈的底部对称设置有两个平台推进器。
进一步地，所述浮力圈上固定有超声接收换能器装置；所述超声接收换能器装置由若干个超声接收换能器组成；所述超声接收换能器在水面搭载平台本体外呈圆周分布；相邻的两个超声接收换能器之间通过换能器连接杆相互固定；所述超声接收换能器上均固定有换能器固定杆；所述换能器固定杆均固定在水面搭载平台本体上；所述水下机器人上设置有超声波发生器。
进一步地，所述线缆收卷装置包括有绕线电机和伸缩卷线器；所述数据电缆一端缠绕在伸缩卷线器的转轴上；所述绕线电机固定在伸缩卷线器上；所述绕线电机的输出端固定在伸缩卷线器的转轴上；数据电缆通过伸缩卷线器与水面搭载平台本体相接通。
进一步地，所述水面搭载平台本体的壳体内部设置有定位模块、通讯模块和电源模块；所述定位模块用于获取水面搭载平台本体的地 理位置信息；所述电源模块用于为水面搭载平台本体和超声接收换能器装置供电；所述通讯模块用于水面搭载平台本体与水下机器人和终端设备的通信连接。
采用上述结构后，本实用新型有益效果为：本实用新型所述的一种远程控制的水下智能机器人，线缆收卷装置固定在水面搭载平台上；数据电缆用于水面搭载平台用于与水下机器人之间的数据传输；水面搭载平台上设置有用于与终端设备之间数据传输的无线模块。在使用本实用新型时，水面搭载平台有足够的浮力，保证水面搭载平台始终不会沉入水下；水面搭载平台通过内部设置的无线模块接收到终端设备发出的信号后通过；通过水面搭载平台内部的处理器处理后分别控制水面搭载平台在水面运动，线缆收卷装置对数据电缆收卷或者放卷和把数据通过数据电缆传输至水下机器人上三部分；同时水下机器人上把水下机器人采集到的信息转换成电信号后，通过数据电缆和水面搭载平台的无线模块传输至终端设备上；实现对水下机器人无线远程控制和数据采集，为海域探索提供极大的便利。
附图说明
图1是本实用新型的结构示意图；
图2是全景摄像装置的结构示意图；
图3是水下机械臂的结构示意图；
图4是行走机构的结构示意图；
图5是保护罩的内部结构示意图；
图6是竖直推进器和水平推进器在防水密封舱上分布的结构示 意图；
图7是超声接收换能器装置的结构示意图；
图8是水面搭载平台本体、平台推进器和浮力圈之间的安装结构图；
附图标记说明：
1、水面搭载平台本体；2、数据电缆；3、保护框；
4、全景摄像装置；401、全景摄像头；402、第一支撑杆；
403、摄像摆角舵机；404、第二支撑杆；405、安装座；
5、水下机械臂；501、固定臂；502、关节舵机；503、摆臂；
504、固定杆；505、操作头；
6、行走机构；601、爬行履带；602、履带支架；
7、竖直推进器；8、水平推进器；9、防水密封舱；10、补光灯；
11、绕线电机；12、伸缩卷线器；13、接收换能器；14、换能器连接杆；
15、换能器固定杆；16、平台推进器；17、浮力圈。
具体实施方式
下面结合附图对本实用新型作进一步的说明。
如图1至所示，本实用新型所述的一种远程控制的水下智能机器人，它包括有数据电缆2、能够浮于水面的水面搭载平台、用于数据电缆2收卷的线缆收卷装置和水下机器人；所述线缆收卷装置固定在水面搭载平台上；所述数据电缆2用于水面搭载平台用于与水下机器人之间的数据传输；所述水面搭载平台上设置有用于与终端设备之间 数据传输的无线模块；水面搭载平台有足够的浮力，保证水面搭载平台始终不会沉入水下；水面搭载平台通过内部设置的无线模块接收到终端设备(图中没有示出)发出的信号后通过；通过水面搭载平台内部的处理器处理后分别控制水面搭载平台在水面运动，线缆收卷装置对数据电缆2收卷或者放卷和把数据通过数据电缆2传输至水下机器人上三部分；同时水下机器人上把水下机器人采集到的信息转换成电信号后，通过数据电缆2和水面搭载平台的无线模块传输至终端设备上；实现对水下机器人无线远程控制和数据采集，为海域探索提供极大的便利。
作为本实用新型的一种优选方式，所述水下机器人包括有防水密封舱9；所述数据电缆2的末端固定在防水密封舱9上；所述防水密封舱9外分别设置有全景摄像装置4、行走机构6、水下机械臂组和推进机构；所述水下机械臂组由两个水下机械臂5组成；所述全景摄像装置4和水下机械臂组均固定设置在防水密封舱9的侧壁上；两个水下机械臂5分别对称设置在全景摄像装置4的左右两侧；所述防水密封舱9的外部固定有保护框3；所述推进机构设置在保护框3的内部；
防水密封舱9内部设置电源模块用于对水下机器人供电；保护框3用于保护推进机构；全景摄像装置4、行走机构6、水下机械臂组和推进机构均通过防水密封舱9内部的控制板进行控制运动；通过防水密封舱9内部的控制板上集成有电源保护系统，通电后数据初始化完成，系统自动检测电流状态，当电流过大时，系统会及时进行预警 提示，如没有改善则主动停止供电；如果测量的电源电压值过低，则进行预警提示，电源持续过放则自动断电；电压水平正常时，系统会按照上述流程反复实时检测电源工作状况，以应对突发异常状况。
作为本实用新型的一种优选方式，所述全景摄像装置4包括有全景摄像头401、第一支撑杆402、摄像摆角舵机403、第二支撑杆404和安装座405；所述第二支撑杆404一端通过安装座405固定在保护框3上；所述摄像摆角舵机403的外壳固定在第二支撑杆404另一端；摄像摆角舵机403的输出端与第一支撑杆402一端相固定连接；所述全景摄像头401固定在第一支撑杆402另一端；摄像摆角舵机403接通在防水密封舱9内设置的主控模块上，通过主控模块往摄像摆角舵机403输送电信号，摄像摆角舵机403驱动后控制第一支撑杆402的摆角，进行改变全景摄像头401的拍摄角度。
作为本实用新型的一种优选方式，所述水下机械臂5包括有第一关节舵机501、第二关节舵机502、摆臂503和固定杆504；所述第一关节舵机501的外壳固定在防水密封舱9上；第一关节舵机501的输出端与第二关节舵机502的外壳相固定连接；所述第二关节舵机502的输出端与摆臂503一端相固定连接；所述固定杆504一端固定在摆臂503另一端；所述固定杆504的末端设置有操作头505；所述固定杆504上固定有补光灯10；所述补光灯10设置在固定杆504上靠近摆臂503的一端；所述补光灯10的出光方向指向操作头505；针对整水下机械臂5的工作内容，操作头505上能够安装对应的工具进行操作，第一关节舵机501和第二关节舵机502在防水密封舱9内 设置的主控模块的控制下驱动，使实现固定杆504摆动；补光灯10的作用是用于水下补光，使视频或者拍照更加清晰，方便操控者进行操作。
作为本实用新型的一种优选方式，所述行走机构6包括有履带支架602；所述履带支架602固定在保护框3上；所述履带支架602的两端均固定有爬行履带601；所述爬行履带601对称设置在履带支架602的左右两侧；爬行履带601的内部设置有用于驱动履带的驱动机构，该驱动机构接通在防水密封舱9内设置的主控模块上。
作为本实用新型的一种优选方式，所述推进机构由竖直推进器组和水平推进器组组成；所述竖直推进器组由若干个在防水密封舱9上均布的竖直推进器7；所述水平推进器组由若干个在防水密封舱9上均布的水平推进器8组成；所述竖直推进器7的推进方向与水平推进器8的推进方向相互垂直设置；所述竖直推进器7可拆卸地安装在防水密封舱9上；所述水平推进器8可拆卸地安装在防水密封舱9上；竖直推进器7和水平推进器8均通过螺栓锁紧在防水密封舱9上便于拆装；竖直推进器7和水平推进器8均接通在防水密封舱9内设置的主控模块上；竖直推进器7和水平推进器8均为同一类推进器，且与现有推进器无本质区别；通过主控模块分别对各个竖直推进器7和水平推进器8进行控制，控制水下机器人在水中的运动状态；竖直推进器7和水平推进器8各自的数量和竖直推进器7和水平推进器8在防水密封舱9上的位置分布根据所需探测的环境。
作为本实用新型的一种优选方式，所述水面搭载平台包括有水面 搭载平台本体1；所述水面搭载平台本体1的外壳为密封壳体；所述水面搭载平台本体1的外部固定有浮力圈17；所述线缆收卷装置固定在浮力圈17上；所述浮力圈17的底部对称设置有两个平台推进器16；平台推进器16用于驱动水面搭载平台本体1在水面上运动；浮力圈17为整个水下智能机器人提供浮力。
作为本实用新型的一种优选方式，所述浮力圈17上固定有超声接收换能器装置；所述超声接收换能器装置由若干个超声接收换能器13组成；所述超声接收换能器13在水面搭载平台本体1外呈圆周分布；相邻的两个超声接收换能器13之间通过换能器连接杆14相互固定；所述超声接收换能器13上均固定有换能器固定杆15；所述换能器固定杆15均固定在水面搭载平台本体1上；所述水下机器人上设置有超声波发生器；超声接收换能器13接收到水下机器人内部的超声波发生器发出的超声信号后通过处理器转换成电信号的数据，得出声波发生器与超声接收换能器13之间的相对位置。
作为本实用新型的一种优选方式，所述线缆收卷装置包括有绕线电机11和伸缩卷线器12；所述数据电缆2一端缠绕在伸缩卷线器12的转轴上；所述绕线电机11固定在伸缩卷线器12上；所述绕线电机11的输出端固定在伸缩卷线器12的转轴上；数据电缆2通过伸缩卷线器12与水面搭载平台本体1相接通；伸缩卷线器12与现有技术无本质区别；通过水面搭载平台本体1上的控制器控制绕线电机11转动，实现数据电缆2的收卷，控制水下机器人的深度。
作为本实用新型的一种优选方式，所述水面搭载平台本体1的壳 体内部设置有定位模块、通讯模块和电源模块；所述定位模块用于获取水面搭载平台本体1的地理位置信息；所述电源模块用于为水面搭载平台本体1和超声接收换能器装置供电；所述通讯模块用于水面搭载平台本体1与水下机器人和终端设备的通信连接；水面搭载平台本体1内部的通讯模块用于数据接收水下机器人和终端设备的信号；而且能够通讯模块向水下机器人和终端设备发出信号。
工作原理
终端设备发出信号后，水面搭载平台通过内部设置的无线模块接收到该信号，通过水面搭载平台内部的处理器处理后分别控制平台推进器用于驱动水面搭载平台本体在水面上运动；控制绕线电机转动，实现数据电缆的收卷，控制水下机器人的深度；通过数据电缆传输至水下机器人上，摄像摆角舵机接通在防水密封舱内设置的主控模块上；通过主控模块往摄像摆角舵机输送电信号，摄像摆角舵机驱动后控制第一支撑杆的摆角，进行改变全景摄像头的拍摄角度；第一关节舵机和第二关节舵机在防水密封舱内设置的主控模块的控制下驱动，使实现固定杆摆动，补光灯的作用是用于水下补光；爬行履带的内部设置有用于驱动履带的驱动机构用于在水底爬行；竖直推进器和水平推进器均接通在防水密封舱内设置的主控模块上，通过主控模块分别对各个竖直推进器和水平推进器进行控制，控制水下机器人在水中的运动状态；通过防水密封舱内部的控制板上集成有电源保护系统，通电后数据初始化完成，系统自动检测电流状态，当电流过大时，系统会及时进行预警提示，如没有改善则主动停止供电；如果测量的电源 电压值过低，则进行预警提示，电源持续过放则自动断电；电压水平正常时，系统会按照上述流程反复实时检测电源工作状况，以应对突发异常状况；同时水下机器人上把水下机器人利用全景摄像头采集到的信息转换成电信号后；通过数据电缆、水面搭载平台的无线模块传输至终端设备上。
在使用本实用新型时，利用水面搭载平台作为信号中介，通过终端设备远程无线控制水下机器人的活动，以及把水下机器人采集的数据通过水面搭载平台传递至终端设备，实现对水下机器人无线远程控制和数据采集，为海域探索提供极大的便利。
以上所述仅是本实用新型的较佳实施方式，故凡依本实用新型专利申请范围所述的构造、特征及原理所做的等效变化或修饰，均包括于本实用新型专利申请范围内。

Claims (10)

  1. 一种远程控制的水下智能机器人，其特征在于：它包括有数据电缆(2)、能够浮于水面的水面搭载平台、用于数据电缆(2)收卷的线缆收卷装置和水下机器人；所述线缆收卷装置固定在水面搭载平台上；所述数据电缆(2)用于水面搭载平台用于与水下机器人之间的数据传输；所述水面搭载平台上设置有用于与终端设备之间数据传输的无线模块。
  2. 根据权利要求1所述的一种远程控制的水下智能机器人，其特征在于：所述水下机器人包括有防水密封舱(9)；所述数据电缆(2)的末端固定在防水密封舱(9)上；所述防水密封舱(9)外分别设置有全景摄像装置(4)、行走机构(6)、水下机械臂组和推进机构；所述水下机械臂组由两个水下机械臂(5)组成；所述全景摄像装置(4)和水下机械臂组均固定设置在防水密封舱(9)的侧壁上；两个水下机械臂(5)分别对称设置在全景摄像装置(4)的左右两侧；所述防水密封舱(9)的外部固定有保护框(3)；所述推进机构设置在保护框(3)的内部。
  3. 根据权利要求2所述的一种远程控制的水下智能机器人，其特征在于：所述全景摄像装置(4)包括有全景摄像头(401)、第一支撑杆(402)、摄像摆角舵机(403)、第二支撑杆(404)和安装座(405)；所述第二支撑杆(404)一端通过安装座(405)固定在保护框(3)上；所述摄像摆角舵机(403)的外壳固定在第二支撑杆(404)另一端；摄像摆角舵机(403)的输出端与第一支撑杆(402)一端相固定连接；所述全景摄像头(401)固定在第一支撑杆(402)另一端。
  4. 根据权利要求2所述的一种远程控制的水下智能机器人，其特征在于：所述水下机械臂(5)包括有第一关节舵机(501)、第二关节舵机(502)、摆臂(503)和固定杆(504)；所述第一关节舵机(501)的外壳固定在防水密封舱(9)上；第一关节舵机(501)的输出端与第二关节舵机(502)的外壳相固定连接；所述第二关节舵机(502)的输出端与摆臂(503)一端相固定连接；所述固定杆(504)一端固定在摆臂(503)另一端；所述固定杆(504)的末端设置有操作头(505)；所述固定杆(504)上固定有补光灯(10)；所述补光灯(10)设置在固定杆(504)上靠近摆臂(503)的一端；所述补光灯(10)的出光方向指向操作头(505)。
  5. 根据权利要求2所述的一种远程控制的水下智能机器人，其特征在于：所述行走机构(6)包括有履带支架(602)；所述履带支架(602)固定在保护框(3)上；所述履带支架(602)的两端均固定有爬行履带(601)；所述爬行履带(601)对称设置在履带支架(602)的左右两侧。
  6. 根据权利要求2所述的一种远程控制的水下智能机器人，其特征在于：所述推进机构由竖直推进器组和水平推进器组组成；所述竖直推进器组由若干个竖直推进器(7)组成；所述水平推进器组由若干个水平推进器(8)组成；所述竖直推进器(7)的推进方向与水平推进器(8)的推进方向相互垂直设置；所述竖直推进器(7)可拆卸地安装在防水密封舱(9)上；所述水平推进器(8)可拆卸地安装在防水密封舱(9)上。
  7. 根据权利要求1所述的一种远程控制的水下智能机器人，其特征在于：所述水面搭载平台包括有水面搭载平台本体(1)；所述水面搭载平台本体(1)的外壳为密封壳体；所述水面搭载平台本体(1)的外部固定有浮力圈(17)；所述线缆收卷装置固定在浮力圈(17)上；所述浮力圈(17)的底部对称设置有两个平台推进器(16)。
  8. 根据权利要求7所述的一种远程控制的水下智能机器人，其特征在于：所述浮力圈(17)上固定有超声接收换能器装置；所述超声接收换能器装置由若干个超声接收换能器(13)组成；所述超声接收换能器(13)在水面搭载平台本体(1)外呈圆周分布；相邻的两个超声接收换能器(13)之间通过换能器连接杆(14)相互固定；所述超声接收换能器(13)上均固定有换能器固定杆(15)；所述换能器固定杆(15)均固定在水面搭载平台本体(1)上；所述水下机器人上设置有超声波发生器。
  9. 根据权利要求7所述的一种远程控制的水下智能机器人，其特征在于：所述线缆收卷装置包括有绕线电机(11)和伸缩卷线器(12)；所述数据电缆(2)一端缠绕在伸缩卷线器(12)的转轴上；所述绕线电机(11)固定在伸缩卷线器(12)上；所述绕线电机(11)的输出端固定在伸缩卷线器(12)的转轴上；数据电缆(2)通过伸缩卷线器(12)与水面搭载平台本体(1)相接通。
  10. 根据权利要求7所述的一种远程控制的水下智能机器人，其特征在于：所述水面搭载平台本体(1)的壳体内部设置有定位模块、通讯模块和电源模块；所述定位模块用于获取水面搭载平台本体(1) 的地理位置信息；所述电源模块用于为水面搭载平台本体(1)和超声接收换能器装置供电；所述通讯模块用于水面搭载平台本体(1)与水下机器人和终端设备的通信连接。
PCT/CN2018/112588 2018-08-14 2018-10-30 一种远程控制的水下智能机器人 WO2020034400A1 (zh)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN201810920783.3 2018-08-14
CN201810920903.XA CN108750024A (zh) 2018-08-14 2018-08-14 一种水面智能搭载平台及其应用
CN201821303765.2 2018-08-14
CN201821303643.3U CN209426997U (zh) 2018-08-14 2018-08-14 一种模块化的水下机器人
CN201810920783.3A CN108750045B (zh) 2018-08-14 2018-08-14 一种模块化的水下机器人
CN201821303643.3 2018-08-14
CN201821303765.2U CN208915381U (zh) 2018-08-14 2018-08-14 一种水面智能搭载平台
CN201810920903.X 2018-08-14

Publications (1)

Publication Number Publication Date
WO2020034400A1 true WO2020034400A1 (zh) 2020-02-20

Family

ID=69525029

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/112588 WO2020034400A1 (zh) 2018-08-14 2018-10-30 一种远程控制的水下智能机器人

Country Status (1)

Country Link
WO (1) WO2020034400A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114739389A (zh) * 2022-05-17 2022-07-12 中国船舶科学研究中心 一种深海作业型缆控潜器水下导航装置及其使用方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203652095U (zh) * 2013-12-25 2014-06-18 浙江海洋学院 一种新型多功能水下机器人
GB2472915B (en) * 2009-08-18 2014-07-02 Cameron James Lawson Apparatus for illuminating and associated methods
CN204568035U (zh) * 2015-04-08 2015-08-19 王素刚 一种多功能作业型水下机器人
CN204568029U (zh) * 2014-12-25 2015-08-19 青岛海山海洋装备有限公司 一种水下无人缆控机器人
CN105818944A (zh) * 2016-04-01 2016-08-03 深圳潜水侠创新动力科技有限公司 一种应用于水下探测的遥控潜艇
CN106394815A (zh) * 2016-10-28 2017-02-15 杭州电子科技大学 一种无人船加无人潜水器的组合系统
CN206243415U (zh) * 2016-11-25 2017-06-13 浙江海洋大学 一种水下遥控机器人
CN106997057A (zh) * 2017-05-11 2017-08-01 深圳潜水侠创新动力科技有限公司 用于水下探测器的定位系统及其定位方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2472915B (en) * 2009-08-18 2014-07-02 Cameron James Lawson Apparatus for illuminating and associated methods
CN203652095U (zh) * 2013-12-25 2014-06-18 浙江海洋学院 一种新型多功能水下机器人
CN204568029U (zh) * 2014-12-25 2015-08-19 青岛海山海洋装备有限公司 一种水下无人缆控机器人
CN204568035U (zh) * 2015-04-08 2015-08-19 王素刚 一种多功能作业型水下机器人
CN105818944A (zh) * 2016-04-01 2016-08-03 深圳潜水侠创新动力科技有限公司 一种应用于水下探测的遥控潜艇
CN106394815A (zh) * 2016-10-28 2017-02-15 杭州电子科技大学 一种无人船加无人潜水器的组合系统
CN206243415U (zh) * 2016-11-25 2017-06-13 浙江海洋大学 一种水下遥控机器人
CN106997057A (zh) * 2017-05-11 2017-08-01 深圳潜水侠创新动力科技有限公司 用于水下探测器的定位系统及其定位方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114739389A (zh) * 2022-05-17 2022-07-12 中国船舶科学研究中心 一种深海作业型缆控潜器水下导航装置及其使用方法

Similar Documents

Publication Publication Date Title
CN204568029U (zh) 一种水下无人缆控机器人
CN106394815B (zh) 一种无人船加无人潜水器的组合系统
JPH07223589A (ja) 水中潜水体への充電システム
CN108750045B (zh) 一种模块化的水下机器人
KR20110052102A (ko) 다자유도 무인 수상 로봇 기반의 수중 작업 로봇
CN102126544B (zh) 一种水中自航式全方位侦测器
KR20060101933A (ko) 수중 탐사 시스템
JP2019089422A (ja) 水中ドローンを用いた海底探査システム
US9511833B2 (en) Multi-component robot for below ice search and rescue
CN208842597U (zh) 一种海上快速救援装置
EP3356218A2 (en) Manoeuvring device and method therof
CN109444900A (zh) 一种基于声呐的海洋鱼群追踪装置及其使用方法
CN212556731U (zh) 一种水下救生的机械人装置
CN106882348B (zh) 高海况下完成事故船与救援船对接的系统
CN107878669A (zh) 智慧水面监测三体船
WO2020034400A1 (zh) 一种远程控制的水下智能机器人
CN113895580B (zh) 一种无缆自主水下机器人通信定位装置及方法
CN205378034U (zh) 漂浮拍摄装置
CN113799948A (zh) 一种便携式海底电缆巡视无人潜航器
CN114212220A (zh) 一种水下检测装置及其控制方法
CN210912782U (zh) 一种浮标自动航行装置
CN216636795U (zh) 一种水下检测装置
CN106697233A (zh) 水下搜救机器人以及发电装置
CN114407592B (zh) 一种能够实时通信的水陆两栖无人巡逻车
CN115891527A (zh) 一种变结构的履带式全水深推进两栖机器人及其控制方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18930158

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 10/06/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 18930158

Country of ref document: EP

Kind code of ref document: A1