WO2020199802A1 - 一种水母式水下探测器及其探测方法 - Google Patents

一种水母式水下探测器及其探测方法 Download PDF

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Publication number
WO2020199802A1
WO2020199802A1 PCT/CN2020/076920 CN2020076920W WO2020199802A1 WO 2020199802 A1 WO2020199802 A1 WO 2020199802A1 CN 2020076920 W CN2020076920 W CN 2020076920W WO 2020199802 A1 WO2020199802 A1 WO 2020199802A1
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WIPO (PCT)
Prior art keywords
gear
jellyfish
gear set
underwater
transmission shaft
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PCT/CN2020/076920
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English (en)
French (fr)
Inventor
陈焕若
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南京涵铭置智能科技有限公司
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Publication of WO2020199802A1 publication Critical patent/WO2020199802A1/zh

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    • 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
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00

Definitions

  • the invention relates to an underwater detector, in particular to a jellyfish type underwater detector and a detection method thereof.
  • the Earth’s oceans are vast. According to statistics, the total ocean area is 361.1 million square kilometers, which occupies two-thirds or more of the earth’s surface, and the land area on which we depend is less than one-third , This also means that apart from land, we have too many unknown areas. More importantly, the ocean also contains extremely rich resources, especially important strategic resources such as oil and natural gas. In recent years, countries around the world have begun large-scale ocean exploration.
  • underwater detectors often use two power modes: propeller-driven and underwater.
  • the former is not deep enough, and the exposed propeller is easily entangled by plants such as water plants; the latter depends on dynamics. Gliding, this kind of movement attitude is difficult to control, especially when turning underwater, and when snorkeling and diving, the reliability is not high.
  • a jellyfish type underwater detector is provided, which applies bionics and solves the above-mentioned problems in the prior art by simulating jellyfish and fish in the ocean.
  • a jellyfish underwater detector including two parts of a detection robot and a remote terminal.
  • the detection robot includes a housing, a bionic muscle connected to one side of the housing, a pair of elevators arranged in the middle of the housing, and a buoyancy drive unit installed at one end of the housing.
  • the remote terminal includes a signal processing unit sealed in the housing, and a virtual reality helmet remotely connected to the signal processing unit.
  • the bionic muscle includes at least four steering gears, an elastic patch connected to the output shaft of the steering gear, and a jellyfish fin attached to the surface of the elastic patch;
  • the elastic patch is in the shape of an arc with a predetermined radius of curvature, the jellyfish fin is in a bowl shape, and there is a predetermined range of deformation; the elastic patch can be deformed under external pressure, and can be quickly removed when the pressure is removed It is restored to its original state and has a metal memory effect.
  • the jellyfish fin is attached to the elastic patch and can be driven by the elastic patch to complete contraction and relaxation, fully simulating the state of a real jellyfish.
  • the steering gear includes a power box, a motor installed inside the power box, a transmission gear set mechanically connected to the motor, a control board electrically connected to the motor, and The control board is electrically connected to an adjustable potentiometer;
  • the variable speed gear set includes a first screw fixed on the output end of the motor, a left end gear set engaged with the first screw to drive, and the left end gear set
  • An intermediate gear set for meshing transmission and a right end gear set for meshing transmission with the intermediate gear set, and a steering gear power shaft is coaxially installed on the right end gear set.
  • the left end gear set, the intermediate gear set, and the right end gear set are respectively formed by coaxial superposition of predetermined gears.
  • the left end gear set includes a first transmission shaft, and is superimposed and sleeved and fixed to the first transmission in an up and down relationship.
  • the intermediate gear set includes a second transmission shaft, and a third gear and a fourth gear that are superimposed and sleeved and fixed on the second transmission shaft in an up and down relationship;
  • the right end gear set includes a third transmission shaft and a fifth gear sleeved and fixed on the third transmission shaft;
  • the first gear is a helical gear and meshes with the first screw;
  • the second gear and The fourth gear meshes with straight teeth;
  • the third gear meshes with the fifth gears;
  • the first transmission shaft, the second transmission shaft, and the third transmission shaft are installed in interference fit.
  • the variable speed gear set reduces the power of the motor to output and increases the torque.
  • the adjustable potentiometer includes a resistor and a movable brush; when the brush moves along the resistor, it gains and displaces at the output end A resistance value or voltage measured in a predetermined relationship.
  • the steering control unit includes a geared motor, a second screw connected to the output end of the geared motor through a coupling, and a transfer helical gear that meshes with the second screw to drive through a flat
  • the key is connected to the rotating shaft of the transfer helical gear, and an eccentric block fixed on the rotating shaft; the eccentric block includes a plurality of semicircular counterweight plates superimposed on each other, and the superimposed number of the counterweight plates is based on the The overall center of gravity of a jellyfish underwater probe is calculated. By rotating the eccentric block, the overall center of gravity of the underwater probe is shifted, thereby changing the heading.
  • the buoyancy driving unit includes an air supply chamber, an air bag communicating with one end of the air outlet of the air supply chamber, and a solenoid valve for controlling the opening and closing of the air supply chamber;
  • the airbag In order to control the opening or closing of the air supply cavity, the airbag is used to receive the gas generated in the air supply cavity and expand. When the gas is filled into the airbag, the density of the underwater detector decreases accordingly, thereby slowly floating up.
  • the visual sensing unit includes at least one illuminating lamp, at least two infrared detectors, at least two cameras, and at least one sonar; the illuminating lamp, infrared detector, camera, and sonar It is installed at a predetermined angle and position; the illuminator is used for underwater lighting, the camera is used for capturing images, and the infrared detector and sonar are used for distance measurement and obstacle avoidance.
  • the upper surface of the elevator is an arc with a predetermined radius of curvature, and the lower surface is horizontal; the elevator is driven by a steering gear built into the housing; the swing amplitude of the elevator passes the limit The position block is limited; when the upper and lower water flows through the elevator, the distance is different, and the place where the flow velocity is fast is the low pressure area, so lift is generated.
  • a detection method of a jellyfish underwater detector which is characterized by comprising the following steps:
  • the buoyancy driving unit is activated to supply air to the airbag through the air supply chamber to change the overall density of the underwater detector, and control the underwater detector to float or sink in the water;
  • the second step is to activate the bionic muscles, and at least four steering gears drive the elastic patch to swing, thereby driving the jellyfish fins attached to the elastic patch to relax and tighten, thereby simulating muscle movements similar to real jellyfish;
  • the third step every time the bionic muscle is stretched and tightened, a predetermined amount of displacement is discharged in the direction opposite to the forward direction, and the reverse power generated by the discharged water flow drives the underwater probe forward;
  • the fourth step the elevator cooperates with the movement of the bionic muscle to realize the ascent or descend while advancing;
  • Step 5 The steering control unit adjusts the position of the eccentric block and changes the forward direction of the underwater probe by changing the center of gravity;
  • the sixth step the visual sensor unit works, the illuminator is used for underwater lighting, the camera is used to collect images, and the infrared detector and sonar are used for distance measurement and obstacle avoidance;
  • the seventh step is to establish a wireless communication connection between the remote terminal and the visual sensing unit, and the signal processing unit synthesizes the images collected by the camera through a predetermined algorithm and displays them through the virtual reality helmet;
  • the eighth step the user wears the virtual reality helmet on his head to experience the immersive picture.
  • the invention relates to a jellyfish-type underwater detector, which applies bionics, by simulating jellyfish and fish in the ocean, specifically, by arranging bionic muscles, and in a further embodiment, the elastic patches are respectively driven by the steering gear to drive The jellyfish fins attached to the elastic patch perform relaxation and tightening actions, thereby simulating muscle movements similar to real jellyfish, and using the reverse power generated by the discharged water flow to drive the underwater probe forward.
  • This design can effectively avoid the problem of entangled underwater debris caused by the propeller drive in the traditional technology.
  • the steering control unit includes a rotatable eccentric block, which changes the heading by changing the overall center of gravity of the device; at the same time, the elevator design draws on the fins of fish, making the underwater probe flexible in underwater movement Freedom and high reliability.
  • FIG. 1 is a schematic cross-sectional view of the present invention.
  • Figure 2 is a perspective view of the present invention.
  • Figure 3 is a perspective view of the steering control unit of the present invention.
  • Figure 4 is a schematic diagram of the internal structure of the steering gear of the present invention.
  • Fig. 5 is a schematic diagram of the arrangement of the visual sensing unit in the present invention.
  • the reference signs in the figure are: housing 1, visual sensor unit 2, sonar 201, lighting 202, infrared detector 203, camera 204, steering control unit 3, reduction motor 301, coupling 302, second screw 303, rotating shaft 304, semicircular counterweight plate 305, transfer helical gear 306, air supply chamber 4, air bag 5, steering gear 6, power box 601, motor 602, first gear 603, second gear 604, first Transmission shaft 605, fourth gear 606, third gear 607, third transmission shaft 608, fifth gear 609, second transmission shaft 610, first screw 611, elastic patch 7, jellyfish fin 8, and elevator 9.
  • the present invention relates to a jellyfish type underwater detector and a detection method thereof.
  • the detection methods of a jellyfish type underwater detector and a jellyfish type underwater detector are respectively described in detail below.
  • a jellyfish underwater detector includes a housing 1, a bionic muscle, an elevator 9, a buoyancy driving unit, a steering control unit 3, a visual sensing unit 2, a signal processing unit, and a virtual reality helmet.
  • the bionic muscle is connected to one side of the housing 1
  • the elevator 9 is arranged in the middle of the housing 1
  • the buoyancy driving unit is installed at one end of the housing 1
  • the steering control unit 3 is installed at Inside the housing 1 and on the side close to the elevator 9, the visual sensing units 2 are respectively installed at the first two ends of the housing 1 at predetermined positions, and the signal processing unit is sealed and installed in the housing.
  • the virtual reality helmet and the signal processing unit are remotely connected.
  • the bionic muscle includes at least four steering gears 6, an elastic patch 7 is connected to the output shaft of the steering gear 6, and a jellyfish fin 8 is attached to the surface of the elastic patch 7, so
  • the elastic patch 7 is in an arc shape with a predetermined radius of curvature, and the jellyfish fin 8 is in a bowl shape and can be deformed and restored within a predetermined range.
  • the elastic patch 7 can be deformed under external pressure, and can quickly return to its original shape after the pressure is removed, and has a metal memory effect.
  • the jellyfish flap 8 is attached to the elastic patch 7 and can be elastically patched 7 drive, complete contraction and relaxation, fully simulate the state of real jellyfish.
  • the steering gear 6 includes a power box 601, a motor 602, a variable speed gear set, a control board, and an adjustable potentiometer; the motor 602 is installed inside the power box 601, and the variable speed gear set is The motor 602 is mechanically connected, the control board is electrically connected to the motor 602, and the adjustable potentiometer is electrically connected to the control board.
  • the transmission gear set includes a first screw 611, a left end gear set, an intermediate gear set, a right end gear set, and a steering gear 6 power shaft.
  • the left end gear set meshes with the first screw 611 for transmission
  • the intermediate gear set is The left end gear set meshes for transmission
  • the right end gear set meshes with the intermediate gear set for mesh transmission
  • the steering gear 6 power shaft is coaxially mounted on the right end gear set.
  • the left end gear set, the intermediate gear set, and the right end gear set are respectively formed by coaxial superposition of predetermined gears.
  • the left end gear set includes a first transmission shaft 605, and is superimposed and sleeved and fixed in the first The first gear 603 and the second gear 604 on the transmission shaft 605; the intermediate gear set includes a second transmission shaft 610, and a third gear 607 which is superimposed and sleeved and fixed on the second transmission shaft 610 in an up-and-down relationship.
  • a fourth gear 606 the right end gear set includes a third transmission shaft 608, and a fifth gear 609 sleeved and fixed on the third transmission shaft 608;
  • the first gear 603 is a helical gear, and The first screw 611 meshes;
  • the second gear 604 meshes with the fourth gear 606 with straight teeth;
  • the third gear 607 meshes with the fifth gear 609 with straight teeth;
  • the second gear 604, the third gear 607, the fourth gear 606, and the fifth gear 609 are installed in interference fit with the first transmission shaft 605, the second transmission shaft 610, and the third transmission shaft 608, respectively.
  • the variable speed gear set decelerates the power of the motor 602 and increases the torque.
  • the adjustable potentiometer includes a resistor and a movable brush; when the brush moves along the resistor, the output is The amount of displacement is a resistance value or voltage in a predetermined relationship.
  • the steering control unit 3 includes a geared motor 301, a second screw 303 connected to the output end of the geared motor 301 through a coupling 302, and a transfer angle that engages with the second screw 303 for transmission.
  • the buoyancy driving unit includes an air supply chamber 4, an air bag 5 connected to one end of the air outlet of the air supply chamber 4, and an electromagnetic valve for controlling the opening and closing of the air supply chamber 4; the electromagnetic valve is used for controlling the air supply
  • the airbag 5 is used to receive the gas generated by the air supply cavity 4 and expand.
  • the gas is injected into the airbag 5, the density of the underwater detectors decreases accordingly, thereby gradually floating upward.
  • the visual sensing unit 2 includes at least one illuminating lamp 202, at least two infrared detectors 203, at least two cameras 204, and at least one sonar 201; the illuminating lamp 202, infrared detectors 203, camera 204, sonar 201 is installed at a predetermined angle and position; the illuminating lamp 202 is used for underwater lighting, the camera 204 is used for capturing images, and the infrared detector and sonar 201 are used for distance measurement and obstacle avoidance.
  • the upper surface of the elevator 9 is an arc with a predetermined radius of curvature, and the lower surface is horizontal; the elevator 9 is driven by a steering gear 6 built in the housing 1; the swing amplitude of the elevator 9 passes through a limit block Limit: When the upper and lower water flows through the elevator 9 due to different distances, the place where the flow rate is fast is the low pressure area, so lift is generated.
  • the present invention has the following working processes and methods:
  • the buoyancy drive unit is activated, and the airbag 5 is supplied with air through the air supply chamber 4 to change the overall density of the underwater detector, and control the underwater detector to float or sink in the water; specifically, the solenoid valve is used to control the air supply
  • the cavity 4 is opened or closed
  • gas is injected into the airbag 5 after the air supply cavity 4 is opened.
  • the airbag 5 slowly expands.
  • the bionic muscle is activated, and the elastic patch 7 is driven to swing by at least four steering gears 6, thereby driving the jellyfish fin 8 attached to the elastic patch 7 to relax and tighten, and the elastic patch 7 can receive external pressure.
  • the jellyfish flap 8 is attached to the elastic patch 7 and can be driven by the elastic patch 7 to complete contraction and relaxation, fully simulating reality The state of jellyfish.
  • a predetermined amount of displacement is discharged in the direction opposite to the forward direction, and the reverse power generated by the discharged water flow drives the underwater probe forward.
  • the elevator 9 cooperates with the movement of the bionic muscle to realize the ascent or descend while advancing; the upper surface of the elevator 9 is an arc with a predetermined radius of curvature, and the lower surface is horizontal; the elevator 9 is built into the housing 1
  • the steering gear 6 is driven by the elevator; the swing range of the elevator 9 is limited by the limit block; when the upper and lower water flows through the elevator 9 due to different distances, the place where the flow rate is fast is the low pressure area, so lift is generated.
  • the steering control unit 3 adjusts the position of the eccentric block, and changes the forward direction of the underwater probe by changing the center of gravity.
  • the eccentric block includes a plurality of semicircular counterweight plates 305 superimposed on each other, and the counterweight The number of superimposed plates is calculated based on the overall center of gravity of the underwater probe.
  • the visual sensing unit 2 works, the illuminating lamp 202 is used for underwater lighting, the camera 204 is used for capturing images, and the infrared detector and the sonar 201 are used for distance measurement and obstacle avoidance. Because electromagnetic waves decay too fast in water, and the shorter the wavelength, the greater the loss. Even if high-power low-frequency electromagnetic waves are used, they can only propagate tens of meters.
  • the attenuation of sound waves propagating in water is much smaller, and it can be detected at a long distance. Sound waves have unique advantages.
  • a wireless communication connection is established between the remote terminal and the visual sensor unit 2, and the signal processing unit synthesizes the images collected by the camera 204 through a predetermined algorithm and displays them through a virtual reality helmet; the user wears the virtual reality helmet on his head to experience An immersive picture.
  • the images obtained are slightly different due to the different positions of the two eyes. These images are merged in the brain to form an overall view of the surrounding world, which includes the distance information .
  • the distance information can also be obtained by other methods, such as the distance of the eye focal length, the comparison of the object size, and so on.

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Abstract

一种水母式水下探测器及其探测方法，该水下探测器包括探测机器人和远程终端两部分。探测机器人包括壳体（1）、仿生肌肉、升降舵（9）、驱动单元、转向控制单元（3）以及多个视觉感应单元（2）；远程终端包括密封安装在壳体（1）内的信号处理单元，以及与信号处理单元远程连接的虚拟现实头盔。该水下探测器在水下运动灵活自如、可靠性高。

Description

一种水母式水下探测器及其探测方法 技术领域
本发明涉及一种水下探测器，具体涉及一种水母式水下探测器及其探测方法。
 背景技术
[0002] 地球海洋面积辽阔，据统计海洋面积总共在36110万平方公里，足足占据了地球表面的三分之二，甚至更多，而我们赖以生存的陆地面积竟然还不足三分之一，这也就意味着的除了陆地以外，我们还有太多的未知领域，更为重要的是相比之下海洋还蕴藏着极为丰富的资源，尤其是石油，天然气这样重要的战略资源，为此世界各国在近年来纷纷开始大批量的展海洋探索。
现有技术中水下探测器、常使用的动力方式为螺旋桨推动式和水下滑翔式两种，前者下潜深度不够，且裸露在外面的螺旋桨容易被水草等植物缠绕；后者靠动力学滑翔，这种运动姿态难以控制，尤其是在水下进行转向、以及上浮下潜等动作时可靠性不高。
 技术问题
提供一种水母式水下探测器，应用仿生学，通过模拟海洋中的水母和鱼，解决了现有技术存在的上述问题。
 技术解决方案
[0004] 一种水母式水下探测器，包括探测机器人和远程终端两部分。
其中，探测机器人，包括壳体，连接在所述壳体一侧的仿生肌肉，设置在所述壳体中部的一对升降舵，安装在所述壳体一端的浮力驱动单元，安装在所述壳体内部、且靠近所述升降舵一侧的转向控制单元，以及分别以预定位置安装在所述壳体首尾两端的多个视觉感应单元；
远程终端，包括密封安装在所述壳体内的信号处理单元，以及与所述信号处理单元远程连接的虚拟现实头盔。
在进一步的实施例中，所述仿生肌肉包括至少四个舵机，连接在所述舵机的输出轴上的弹性贴片，以及与所述弹性贴片的表面贴合的水母翼片；所述弹性贴片呈预定曲率半径的弧形，所述水母翼片呈碗状，并存在预定范围内的变形；弹性贴片能够在收到外界压力的情况下发生形变，当压力撤去后能够迅速恢复原状，具有金属的记忆效应，所述水母翼片贴在弹性贴片上，能够被弹性贴片带动，完成收缩和舒张，充分模拟真实水母的状态。
在进一步的实施例中，所述舵机包括动力盒，安装在所述动力盒内部的电机，与所述电机机械连接的变速齿轮组，与所述电机电性连接的控制板，以及与所述控制板电性连接的可调电位器；所述变速齿轮组包括固定在所述电机输出端上的第一螺杆，与所述第一螺杆啮合传动的左端齿轮组，与所述左端齿轮组啮合传动的中间齿轮组，以及与所述中间齿轮组啮合传动的右端齿轮组，所述右端齿轮组上同轴安装有舵机动力轴。所述左端齿轮组、中间齿轮组、以及右端齿轮组分别通过预定的齿轮同轴叠加形成，所述左端齿轮组包括第一传动轴，以及分别呈上下关系叠加套设固定在所述第一传动轴上的第一齿轮和第二齿轮；所述中间齿轮组包括第二传动轴，以及分别呈上下关系叠加套设固定在所述第二传动轴上的第三齿轮和第四齿轮；所述右端齿轮组包括第三传动轴，以及套设固定在所述第三传动轴上的第五齿轮；所述第一齿轮为斜齿轮、且与所述第一螺杆啮合；所述第二齿轮与所述第四齿轮为直齿啮合；所述第三齿轮与所述第五齿轮为直齿啮合；所述第一齿轮、第二齿轮、第三齿轮、第四齿轮、第五齿轮分别与所述第一传动轴、第二传动轴、第三传动轴之间过盈配合安装。所述变速齿轮组将电机的动力经过减速输出，并增大扭矩，可调电位器包括电阻体、以及一个可移动的电刷；当电刷沿电阻体移动时，在输出端即获得与位移量成预定关系的电阻值或电压。
在进一步的实施例中，所述转向控制单元包括减速电机，与所述减速电机的输出端通过联轴器连接的第二螺杆，与所述第二螺杆啮合传动的转接斜齿轮，通过平键与所述转接斜齿轮连接的转轴，以及固定在所述转轴上的偏心块；所述偏心块包括多个相互叠加的半圆形配重板，所述配重板的叠加数量根据所述一种水母式水下探测器的整体重心计算得出。通过转动偏心块使得该水下探测器的整体重心发生偏移，从而改变航向。
在进一步的实施例中，所述浮力驱动单元包括供气腔，与所述供气腔的出气口一端连通的气囊，以及用于控制所述供气腔开启和闭合的电磁阀；电磁阀用于控制供气腔的开启或闭合，气囊用于接收供气腔产生的气体并膨胀开，当气体灌入气囊后，水下探测器的密度随之减小，从而缓缓上浮。
在进一步的实施例中，所述视觉感应单元包括至少一个照明灯、至少两个红外探测仪、至少两个摄像头，以及至少一个声纳；所述照明灯、红外探测仪、摄像头、声纳以预定角度和位置安装；所述照明灯用于水下照明，所述摄像头用于采集画面，所述红外探测器和声纳配合用于测距和避障。
在进一步的实施例中，所述升降舵的上表面为预定曲率半径的弧形，下表面呈水平；所述升降舵通过内置在所述壳体内部的舵机驱动；所述升降舵的摆动幅度通过限位块限位；上下水流经过升降舵时因距离不等，流速快的地方是低压区，因此产生了升力。
一种水母式水下探测器的探测方法，其特征在于包括以下步骤：
第一步、浮力驱动单元启动，通过供气腔为气囊供气改变该水下探测器的整体密度，控制该水下探测器在水中上浮或下沉；
第二步、仿生肌肉启动，通过至少四个舵机带动弹性贴片摆动，从而带动与弹性贴片贴合的水母翼片舒张和收紧，从而模拟出类似真实水母的肌肉运动；
第三步、仿生肌肉每舒张和收紧一次，即向与前进方向相反的方向排出预定的排水量，由排出的水流产生反向动力带动该水下探测器前进；
第四步、升降舵配合仿生肌肉运动，实现在前进的同时上升或下潜；
第五步、转向控制单元调整偏心块的位置，利用改变重心的方式改变该水下探测器的前进方向；
第六步、视觉感应单元工作，照明灯用于水下照明，摄像头用于采集画面，红外探测器和声纳配合用于测距和避障；
第七步、远程终端与视觉感应单元之间建立无线通信连接，信号处理单元将摄像头采集后的画面通过预定的算法合成并通过虚拟现实头盔放映；
第八步、使用人员将虚拟现实头盔戴在头上，体验具有沉浸感的画面。
 有益效果
本发明涉及一种水母式水下探测器，应用仿生学，通过模拟海洋中的水母和鱼，具体的，通过设置仿生肌肉，在进一步的实施例中通过舵机分别驱动弹性贴片，进而带动与弹性贴片贴合的水母翼片做出舒张和收紧的动作，从而模拟出类似真实水母的肌肉运动，利用排出水流产生的反向动力带动该水下探测器前进。如此设计可以有效避免传统技术中螺旋桨驱动导致缠绕水下杂物的问题出现。在进一步的实施例中，转向控制单元包括一个可以旋转的偏心块，通过改变装置整体的重心从而改变航向；同时升降舵的设计借鉴了鱼类的鳍，使得该水下探测器在水下运动灵活自如、可靠性高。
 附图说明
[0006] 图1为本发明的剖切示意图。
图2为本发明的立体图。
图3为本发明中转向控制单元的立体图。
图4为本发明中舵机的内部结构示意图。
图5为本发明中视觉感应单元的排布示意图。
图中各附图标记为：壳体1、视觉感应单元2、声纳201、照明灯202、红外探测仪203、摄像头204、转向控制单元3、减速电机301、联轴器302、第二螺杆303、转轴304、半圆形配重板305、转接斜齿轮306、供气腔4、气囊5、舵机6、动力盒601、电机602、第一齿轮603、第二齿轮604、第一传动轴605、第四齿轮606、第三齿轮607、第三传动轴608、第五齿轮609、第二传动轴610、第一螺杆611、弹性贴片7、水母翼片8、升降舵9。
 本发明的实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
如图1至图5所示，本发明涉及一种水母式水下探测器及其探测方法。下面分别对一种水母式水下探测器和一种水母式水下探测器的探测方法进行具体描述。
一种水母式水下探测器包括壳体1、仿生肌肉、升降舵9、浮力驱动单元、转向控制单元3、视觉感应单元2、信号处理单元、以及虚拟现实头盔。所述仿生肌肉连接在所述壳体1的一侧，所述升降舵9设置在所述壳体1中部，所述浮力驱动单元安装在所述壳体1一端，所述转向控制单元3安装在所述壳体1内部、且靠近所述升降舵9的一侧，所述视觉感应单元2分别以预定位置安装在所述壳体1的首位两端，所述信号处理单元密封安装在所述壳体1内，所述虚拟现实头盔与所述信号处理单元之间远程连接。
作为一个优选方案，所述仿生肌肉包括至少四个舵机6，所述舵机6的输出轴上连接有弹性贴片7，所述弹性贴片7的表面贴合有水母翼片8，所述弹性贴片7呈预定曲率半径的弧形，所述水母翼片8呈碗状、并可在预定范围内发生形变并恢复。弹性贴片7能够在收到外界压力的情况下发生形变，当压力撤去后能够迅速恢复原状，具有金属的记忆效应，所述水母翼片8贴在弹性贴片7上，能够被弹性贴片7带动，完成收缩和舒张，充分模拟真实水母的状态。
作为一个优选方案，所述舵机6包括动力盒601、电机602、变速齿轮组、控制板、可调电位器；所述电机602安装在所述动力盒601内部，所述变速齿轮组与所述电机602机械连接，所述控制板与所述电机602之间电性连接，所述可调电位器与所述控制板电性连接。所述变速齿轮组包括第一螺杆611、左端齿轮组、中间齿轮组、右端齿轮组、舵机6动力轴，左端齿轮组与所述第一螺杆611啮合传动，所述中间齿轮组与所述左端齿轮组啮合传动，所述右端齿轮组与所述中间齿轮组啮合传动，所述舵机6动力轴同轴安装在所述右端齿轮组上。所述左端齿轮组、中间齿轮组、以及右端齿轮组分别通过预定的齿轮同轴叠加形成，所述左端齿轮组包括第一传动轴605，以及分别呈上下关系叠加套设固定在所述第一传动轴605上的第一齿轮603和第二齿轮604；所述中间齿轮组包括第二传动轴610，以及分别呈上下关系叠加套设固定在所述第二传动轴610上的第三齿轮607和第四齿轮606；所述右端齿轮组包括第三传动轴608，以及套设固定在所述第三传动轴608上的第五齿轮609；所述第一齿轮603为斜齿轮、且与所述第一螺杆611啮合；所述第二齿轮604与所述第四齿轮606为直齿啮合；所述第三齿轮607与所述第五齿轮609为直齿啮合；所述第一齿轮603、第二齿轮604、第三齿轮607、第四齿轮606、第五齿轮609分别与所述第一传动轴605、第二传动轴610、第三传动轴608之间过盈配合安装。所述变速齿轮组将电机602的动力经过减速输出，并增大扭矩，可调电位器包括电阻体、以及一个可移动的电刷；当电刷沿电阻体移动时，在输出端即获得与位移量成预定关系的电阻值或电压。
作为一个优选方案，所述转向控制单元3包括减速电机301，与所述减速电机301的输出端通过联轴器302连接的第二螺杆303，与所述第二螺杆303啮合传动的转接斜齿轮306，通过平键与所述转接斜齿轮306连接的转轴304，以及固定在所述转轴304上的偏心块；所述偏心块包括多个相互叠加的半圆形配重板305，所述配重板的叠加数量根据该水下探测器的整体重心计算得出。通过转动偏心块使得该水下探测器的整体重心发生偏移，从而改变航向。所述浮力驱动单元包括供气腔4，与所述供气腔4的出气口一端连通的气囊5，以及用于控制所述供气腔4开启和闭合的电磁阀；电磁阀用于控制供气腔4的开启或闭合，气囊5用于接收供气腔4产生的气体并膨胀开，当气体灌入气囊5后，水下探测器的密度随之减小，从而缓缓上浮。所述视觉感应单元2包括至少一个照明灯202、至少两个红外探测仪203、至少两个摄像头204，以及至少一个声纳201；所述照明灯202、红外探测仪203、摄像头204、声纳201以预定角度和位置安装；所述照明灯202用于水下照明，所述摄像头204用于采集画面，所述红外探测器和声纳201配合用于测距和避障。所述升降舵9的上表面为预定曲率半径的弧形，下表面呈水平；所述升降舵9通过内置在所述壳体1内部的舵机6驱动；所述升降舵9的摆动幅度通过限位块限位；上下水流经过升降舵9时因距离不等，流速快的地方是低压区，因此产生了升力。
通过上述技术方案，本发明拥有如下的工作过程和方法：
首先，浮力驱动单元启动，通过供气腔4为气囊5供气改变该水下探测器的整体密度，控制该水下探测器在水中上浮或下沉；具体的，电磁阀用于控制供气腔4的开启或闭合，当供气腔4打开后向气囊5内注入气体，此时气囊5缓缓膨胀，当气体灌入气囊5后，水下探测器的密度随之减小，从而缓缓上浮。接着，仿生肌肉启动，通过至少四个舵机6带动弹性贴片7摆动，从而带动与弹性贴片7贴合的水母翼片8舒张和收紧，弹性贴片7能够在收到外界压力的情况下发生形变，当压力撤去后能够迅速恢复原状，具有金属的记忆效应，所述水母翼片8贴在弹性贴片7上，能够被弹性贴片7带动，完成收缩和舒张，充分模拟真实水母的状态。仿生肌肉每舒张和收紧一次，即向与前进方向相反的方向排出预定的排水量，由排出的水流产生反向动力带动该水下探测器前进。升降舵9配合仿生肌肉运动，实现在前进的同时上升或下潜；所述升降舵9的上表面为预定曲率半径的弧形，下表面呈水平；所述升降舵9通过内置在所述壳体1内部的舵机6驱动；所述升降舵9的摆动幅度通过限位块限位；上下水流经过升降舵9时因距离不等，流速快的地方是低压区，因此产生了升力。转向控制单元3调整偏心块的位置，利用改变重心的方式改变该水下探测器的前进方向，具体的，所述偏心块包括多个相互叠加的半圆形配重板305，所述配重板的叠加数量根据该水下探测器的整体重心计算得出。通过转动偏心块使得该水下探测器的整体重心发生偏移，从而改变航向。接着，视觉感应单元2工作，照明灯202用于水下照明，摄像头204用于采集画面，红外探测器和声纳201配合用于测距和避障。由于电磁波在水中衰减太快，而且波长越短，损失越大，即使用大功率的低频电磁波，也只能传播几十米。然而，声波在水中传播的衰减就小得多，能够进行远距离探测，声波具有得天独厚的优势。此外，远程终端与视觉感应单元2之间建立无线通信连接，信号处理单元将摄像头204采集后的画面通过预定的算法合成并通过虚拟现实头盔放映；使用人员将虚拟现实头盔戴在头上，体验具有沉浸感的画面。人看周围的世界时，由于两只眼睛的位置不同，得到的图像略有不同，这些图像在脑子里融合起来，就形成了一个关于周围世界的整体景象，这个景象中包括了距离远近的信息。当然，距离信息也可以通过其他方法获得，例如眼睛焦距的远近、物体大小的比较等。在VR系统中，双目立体视觉起了很大作用。用户的两只眼睛看到的不同图像是分别产生的，显示在不同的显示器上。有的系统采用单个显示器，但用户带上特殊的眼镜后，一只眼睛只能看到奇数帧图像，另一只眼睛只能看到偶数帧图像，奇、偶帧之间的不同也就是视差就产生了立体感与沉浸感。
如上所述，尽管参照特定的优选实施例已经表示和表述了本发明，但其不得解释为对本发明自身的限制。在不脱离所附权利要求定义的本发明的精神和范围前提下，可对其在形式上和细节上做出各种变化。

Claims (8)

  1. 一种水母式水下探测器，其特征是包括：
    探测机器人，包括壳体，连接在所述壳体一侧的仿生肌肉，设置在所述壳体中部的一对升降舵，安装在所述壳体一端的浮力驱动单元，安装在所述壳体内部、且靠近所述升降舵一侧的转向控制单元，以及分别以预定位置安装在所述壳体首尾两端的多个视觉感应单元；
    远程终端，包括密封安装在所述壳体内的信号处理单元，以及与所述信号处理单元远程连接的虚拟现实头盔。
  2. 根据权利要求1所述的一种水母式水下探测器，其特征在于：所述仿生肌肉包括至少四个舵机，连接在所述舵机的输出轴上的弹性贴片，以及与所述弹性贴片的表面贴合的水母翼片；所述弹性贴片呈预定曲率半径的弧形，所述水母翼片呈碗状，并存在预定范围内的变形。
  3. 根据权利要求2所述的一种水母式水下探测器，其特征在于：所述舵机包括动力盒，安装在所述动力盒内部的电机，与所述电机机械连接的变速齿轮组，与所述电机电性连接的控制板，以及与所述控制板电性连接的可调电位器；所述变速齿轮组包括固定在所述电机输出端上的第一螺杆，与所述第一螺杆啮合传动的左端齿轮组，与所述左端齿轮组啮合传动的中间齿轮组，以及与所述中间齿轮组啮合传动的右端齿轮组，所述右端齿轮组上同轴安装有舵机动力轴。
  4. 根据权利要求3所述的一种水母式水下探测器，其特征在于：所述左端齿轮组、中间齿轮组、以及右端齿轮组分别通过预定的齿轮同轴叠加形成，所述左端齿轮组包括第一传动轴，以及分别呈上下关系叠加套设固定在所述第一传动轴上的第一齿轮和第二齿轮；所述中间齿轮组包括第二传动轴，以及分别呈上下关系叠加套设固定在所述第二传动轴上的第三齿轮和第四齿轮；所述右端齿轮组包括第三传动轴，以及套设固定在所述第三传动轴上的第五齿轮；所述第一齿轮为斜齿轮、且与所述第一螺杆啮合；所述第二齿轮与所述第四齿轮为直齿啮合；所述第三齿轮与所述第五齿轮为直齿啮合；所述第一齿轮、第二齿轮、第三齿轮、第四齿轮、第五齿轮分别与所述第一传动轴、第二传动轴、第三传动轴之间过盈配合安装。
  5. 根据权利要求1所述的一种水母式水下探测器，其特征在于：所述浮力驱动单元包括供气腔，与所述供气腔的出气口一端连通的气囊，以及用于控制所述供气腔开启和闭合的电磁阀。
  6. 根据权利要求1所述的一种水母式水下探测器，其特征在于：所述视觉感应单元包括至少一个照明灯、至少两个红外探测仪、至少两个摄像头，以及至少一个声纳；所述照明灯、红外探测仪、摄像头、声纳以预定角度和位置安装。
  7. 根据权利要求1所述的一种水母式水下探测器，其特征在于：所述升降舵的上表面为预定曲率半径的弧形，下表面呈水平；所述升降舵通过内置在所述壳体内部的舵机驱动；所述升降舵的摆动幅度通过限位块限位。
  8. 一种水母式水下探测器的探测方法，其特征在于包括以下步骤：
    S1、浮力驱动单元启动，通过供气腔为气囊供气改变该水下探测器的整体密度，控制该水下探测器在水中上浮或下沉；
    S2、仿生肌肉启动，通过至少四个舵机带动弹性贴片摆动，从而带动与弹性贴片贴合的水母翼片舒张和收紧，从而模拟出类似真实水母的肌肉运动；
    S3、仿生肌肉每舒张和收紧一次，即向与前进方向相反的方向排出预定的排水量，由排出的水流产生反向动力带动该水下探测器前进；
    S4、升降舵配合仿生肌肉运动，实现在前进的同时上升或下潜；
    S5、视觉感应单元工作，照明灯用于水下照明，摄像头用于采集画面，红外探测器和声纳配合用于测距和避障；
    S6、远程终端与视觉感应单元之间建立无线通信连接，信号处理单元将摄像头采集后的画面通过预定的算法合成并通过虚拟现实头盔放映；
    S7、使用人员将虚拟现实头盔戴在头上，体验具有沉浸感的画面。
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