WO2020211580A1 - 一种依靠改变重力转向的水下机器人及其控制方法 - Google Patents

一种依靠改变重力转向的水下机器人及其控制方法 Download PDF

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Publication number
WO2020211580A1
WO2020211580A1 PCT/CN2020/079652 CN2020079652W WO2020211580A1 WO 2020211580 A1 WO2020211580 A1 WO 2020211580A1 CN 2020079652 W CN2020079652 W CN 2020079652W WO 2020211580 A1 WO2020211580 A1 WO 2020211580A1
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WIPO (PCT)
Prior art keywords
gear
gravity
steering
center
robot
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PCT/CN2020/079652
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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 WO2020211580A1 publication Critical patent/WO2020211580A1/zh

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    • 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
    • B63G8/14—Control of attitude or depth
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

Definitions

  • the invention relates to an underwater robot, in particular to an underwater robot relying on changing gravity steering and a control method thereof.
  • Underwater robots also known as unmanned remote-controlled submersibles, are a kind of extreme work robots that work underwater.
  • the underwater environment is harsh and dangerous, and the depth of human diving is limited, so underwater robots have become an important tool for developing the ocean.
  • underwater robots are usually driven by propellers.
  • the thrust is generated by the rotation of the blades, and when steering is required, the rotation speed difference of each propeller is used to achieve this; the above method has major limitations , And low reliability: because the entire power plant is exposed to water, it will affect the life of the engine, and the blades are easily hit by underwater fish at high speeds and cause the engine to stop. Safety and reliability cannot be underestimated .
  • An underwater robot that relies on changing gravity steering is provided, which solves the above-mentioned problems existing in the prior art.
  • An underwater robot that relies on changing the gravity steering, includes a robot body, a steering control unit, a vision unit, and a terminal device.
  • the robot body includes a housing, a bionic muscle connected to one side of the housing, and a buoyancy driving unit installed at one end of the housing;
  • the steering control unit includes a center of gravity adjustment assembly built into the housing at a predetermined position;
  • the vision unit is installed at a predetermined position on both ends of the robot body;
  • the terminal device includes a signal processing unit sealed and installed in the housing, and a user terminal remotely connected to the signal processing unit, and the user terminal includes a smart phone and a VR helmet.
  • the bionic muscle includes a number of steering gears, an elastic patch connected to the output end of the steering gear, and a jellyfish fin attached to the surface of the elastic patch;
  • the elastic The patch is in the shape of an arc with a predetermined radius of curvature.
  • the elastic patch and the output end of the steering gear are connected by a pair of mutually meshing gears and tooth grooves, and are locked by a fastening cap;
  • the jellyfish fin is a bowl Shaped and with a hydrophobic layer on the surface;
  • the bionic muscle is used to simulate the motion state of the real jellyfish, using the reaction force generated by the discharged water to drive the jellyfish robot forward, the elastic patch deforms after receiving the external pressure, and quickly after the pressure is removed Restore.
  • the steering gear includes a brushless motor, and a gear set connected to the brushless motor; the gear set is arranged in the power box and includes a first fixed to the output end of the brushless motor. Gears, the first rotating shaft and the second rotating shaft arranged in the power box are rotated through the bearing and the bearing seat, the second gear, the third gear, the fourth gear, and the fifth gear are sequentially fixed on the first rotating shaft, And a sixth gear, a seventh gear, an eighth gear, and a ninth gear that are sequentially fixed on the second shaft; one end of the elastic patch is provided with a tooth groove, and the tooth groove is engaged with the ninth gear , That is, the number of teeth of the tooth groove is the same as the number of teeth of the ninth gear.
  • the first gear, the second gear, the third gear, the fourth gear, the fifth gear, the sixth gear, the seventh gear, the eighth gear, and the ninth gear are all spur gears;
  • the inner diameters of the third gear, the fourth gear, and the fifth gear are in interference fit with the outer diameter of the first shaft;
  • the inner diameters of the sixth gear, the seventh gear, the eighth gear, and the ninth gear are in interference fit with the second gear.
  • the outer diameter of the shaft has an interference fit.
  • the steering gear can precisely control each elastic patch.
  • the center of gravity adjustment assembly 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 and passes through a flat
  • the key is connected to the third rotating shaft of the transfer helical gear, and an eccentric block fixed on the third rotating shaft; the eccentric block includes a plurality of semi-circular counterweight plates superimposed on each other, and the The number of superimpositions is calculated based on the overall center of gravity of the jellyfish robot.
  • the rotation angle of the semicircular counterweight is calculated according to the turning radius, and the center of gravity of the jellyfish robot is changed in real time according to the turning angle of the semicircular counterweight.
  • the jellyfish robot will automatically tilt to the direction of the center of gravity to complete the steering action.
  • the center of gravity adjustment component may also be an eccentric motor, including a servo motor, and an eccentric block locked at the output end of the servo motor, the eccentric block includes a plurality of semi-circular components superimposed on each other.
  • the weight plate, the superimposed number of the weight plate is calculated according to the overall center of gravity of the underwater robot that depends on changing the gravity steering;
  • a photoelectric encoder is coaxially installed between the eccentric block and the servo motor;
  • the photoelectric encoder includes a chassis, a code disc, and a photoelectric sensor installed in a fixed position between the chassis and the code disc.
  • the circumferential array on the code disc has a predetermined number of sector-shaped perforations; the chassis and the eccentric block A deep groove ball bearing is mated and connected; one side of the eccentric block is provided with a clamping block, a gap of a predetermined distance is provided between the clamping blocks, and the eccentric block is sleeved on the output end of the servo motor , And clamp the gap by a pair of nuts and hexagon socket bolts.
  • the photoelectric encoder is used to sense the angular displacement and angular velocity of the output terminal of the servo motor in real time, and convert the mechanical quantities such as angular displacement and angular velocity into digital pulse signals.
  • 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, a pair of elevators arranged in the middle of the housing, and a pair of elevators for controlling the supply
  • a solenoid valve for opening and closing the air cavity 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 Limit by the limit block.
  • the elevator can assist the ups and downs of the jellyfish robot. Lift is generated by the flow rate difference created by the upper and lower surfaces of the water flowing through the elevator. Adjusting the inclination of the elevator can change the magnitude and direction of the lift.
  • the limit block acts as a limit on the elevator to prevent Stall due to excessive swing of the elevator.
  • the vision unit includes an illuminating lamp, an infrared detector, a camera, and a sonar.
  • the illuminator is used for underwater lighting
  • the camera is used to capture images
  • the infrared detector and sonar are used for distance measurement and obstacle avoidance.
  • the bionic muscle is activated, the steering gear works, the power of the brushless motor is output to the gear set, and finally output to the elastic patch, which drives the elastic patch to swing.
  • Each servo can be driven separately according to the forward direction and the forward speed, the elastic patch After swinging, it drives the jellyfish fins attached to it to contract or expand.
  • the jellyfish fins expand and contract once a cycle. Each cycle will discharge a predetermined amount of water displacement.
  • the reaction force generated by the discharged water flow is used to drive the jellyfish robot forward.
  • the elastic patch undergoes deformation after receiving external pressure, and quickly returns to its original state when the pressure is removed;
  • the center of gravity adjustment component controls the steering of the jellyfish robot.
  • the decelerating motor starts to drive the second screw to rotate.
  • the second screw drives the transfer helical gear to rotate, and the transfer gear drives the semicircular counterweight to rotate.
  • the semicircle is calculated according to the turning radius.
  • the rotation angle of the shaped counterweight plate changes the center of gravity of the jellyfish robot in real time according to the turning angle of the semicircular counterweight plate.
  • the jellyfish robot will automatically tilt to the center of gravity to complete the steering action;
  • the center of gravity adjustment component controls the steering of the jellyfish robot can also be accomplished by an eccentric motor.
  • the servo motor drives the eccentric block to rotate through a predetermined angle, thereby changing the position of the center of gravity of the jellyfish robot.
  • the photoelectric encoder senses the angular displacement of the servo motor output terminal in real time and Angular velocity, and convert mechanical quantities such as angular displacement and angular velocity into digital pulse signals;
  • the vision unit works.
  • a wireless communication connection is established between the user terminal and the vision unit.
  • the signal processing unit processes and sends the signal generated by the vision unit to the user terminal, and sends the underwater images to the smartphone or VR helmet for projection.
  • the invention relates to an underwater robot that relies on changing gravity steering.
  • a center of gravity adjustment component is arranged inside the jellyfish robot. By changing the position of its own center of gravity, the jellyfish robot automatically deflects to the position of the center of gravity when navigating.
  • the steering control unit is integrated in the shell. , Without direct contact with the outside world, so the steering reliability is high. It solves the problem of traditional underwater robots that "rely on the propeller to drive, rely on the difference in the speed of the blades to generate steering force, and the blades are easily damaged and have a low life when exposed to water.”
  • Figure 1 is a partial disassembly schematic diagram of the present invention.
  • Fig. 2 is a perspective view of the center of gravity adjustment assembly in the first embodiment of the present invention.
  • Fig. 3 is a perspective view of the center of gravity adjustment assembly in the second embodiment of the present invention.
  • Fig. 4 is a schematic diagram of the structure of the eccentric block in the gravity center adjusting assembly of the present invention.
  • Fig. 5 is a schematic diagram of the cooperative installation of the steering gear and the elastic patch in the present invention.
  • Figure 6 is a schematic diagram of the internal structure of the steering gear of the present invention.
  • Fig. 7 is a schematic diagram of the arrangement of visual units in the present invention.
  • Figure 8 is a schematic diagram of the structure of the photoelectric encoder in the present invention.
  • the reference signs in the figure are: housing 1, vision unit 2, sonar 201, illuminating lamp 202, infrared detector 203, camera 204, center of gravity adjustment assembly 3, reduction motor 301, coupling 302, second screw 303 , Third rotating shaft 304, semi-circular weight plate 305, transfer helical gear 306, servo motor 307, eccentric block 308, clamping block 308a, air supply chamber 4, air bag 5, steering gear 6, first gear 601, Second gear 602, third gear 603, fourth gear 604, fifth gear 605, sixth gear 606, seventh gear 607, eighth gear 608, ninth gear 609, brushless motor 610, first rotating shaft 611, The second rotating shaft 612, the elastic patch 7, the jellyfish fin 8, the elevator 9, the chassis 1001, the encoder 1002, the photoelectric sensor 1003, and the fan-shaped perforation 1004.
  • the present invention relates to an underwater robot that relies on changing gravity steering and a control method thereof.
  • the control methods of an underwater robot that relies on changing gravity steering and an underwater robot that relies on changing gravity steering are described in detail below.
  • An underwater robot that relies on changing gravity steering includes a housing 1, a bionic muscle, an elevator 9, a buoyancy drive unit, a steering control unit, a vision unit 2, a signal processing unit, and a VR 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 is installed at the Inside the housing 1 and on the side close to the elevator 9,
  • the vision unit 2 is respectively installed at the first two ends of the housing 1 at predetermined positions
  • the signal processing unit is sealed and installed on the housing 1.
  • the VR helmet is remotely connected to the signal processing unit.
  • the bionic muscle includes at least four steering gears 6, the output shaft of the steering gear 6 is connected with an elastic patch 7, and the surface of the elastic patch 7 is attached with a jellyfish fin 8, and the elastic patch 7 It has an arc shape with a predetermined radius of curvature, and the jellyfish fin 8 has a bowl shape and can be deformed and restored within a predetermined range.
  • 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 the state of a real jellyfish.
  • the elastic patch 7 and the output end of the steering gear 6 are connected by a pair of meshing gears and tooth grooves, and are locked by a fastening cap; the jellyfish fin 8 is bowl-shaped and has a hydrophobic surface.
  • the steering control unit includes a reduction motor 301, a second screw 303 connected to the output end of the reduction motor 301 through a coupling 302, and a transfer helical gear 306 that meshes with the second screw 303 and is driven by a flat key
  • the third rotating shaft 304 connected to the transfer helical gear 306, and the eccentric block 308 fixed on the third rotating shaft 304; the eccentric block 308 includes a plurality of semicircular weight plates 305 superimposed on each other, so The number of superimposed counterweight plates is calculated according to the overall center of gravity of the underwater probe.
  • 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 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, and sonar 201 Install at a predetermined angle and position; the illuminator 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.
  • 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 steering gear 6 includes a brushless motor 610 and a gear set connected to the brushless motor 610; the gear set is arranged in the power box and includes a first gear 601 fixed at the output end of the brushless motor 610, The first rotating shaft 611 and the second rotating shaft 612 arranged in the power box are rotated through the bearing and the bearing seat, and the second gear 602, the third gear 603, the fourth gear 604, and the second gear 602, the third gear 603, and the fourth gear 604 are sequentially fixed on the first rotating shaft 611.
  • the first gear 601 meshes with the second gear 602, the third gear 603 meshes with the sixth gear 606, the fourth gear 604 meshes with the seventh gear 607, and the fifth gear 605 meshes with the eighth gear 608;
  • the first gear 601, the second gear 602, the third gear 603, the fourth gear 604, the fifth gear 605, the sixth gear 606, the seventh gear 607, and the eighth gear 608 and the ninth gear 609 are all spur gears;
  • the inner diameters of the second gear 602, the third gear 603, the fourth gear 604, and the fifth gear 605 are in interference fit with the outer diameter of the first shaft 611;
  • the inner diameters of the sixth gear 606, the seventh gear 607, the eighth gear 608, and the ninth gear 609 are in interference fit with the outer diameter of the second shaft 612.
  • the steering gear 6 can precisely control each elastic patch 7.
  • the specific transmission process of the steering gear 6 is as follows: the brushless motor 610 is turned on to drive the first gear 601 to rotate, and the first gear 601 drives the second gear 602 meshed with it to rotate.
  • the fifth gear 605 is coaxially installed with the second gear 602, so the power is completely synchronized.
  • the third gear 603 rotates, driving the sixth gear 606 meshing with it to rotate, and the fourth gear 604 drives the meshing gear 606 with it.
  • the seventh gear 607 rotates, and the fifth gear 605 drives the eighth gear 608 meshed with it to rotate.
  • the ninth gear 609 is coaxially installed with the sixth gear 606, the seventh gear 607, and the eighth gear 608, The power is completely synchronized, and finally the ninth gear 609 rotates. Because one end of the elastic patch 7 is provided with a tooth groove, and the tooth groove is engaged with the ninth gear 609, the ninth gear 609 drives the elastic patch 7 to start.
  • the center of gravity adjustment assembly 3 can also be an eccentric motor, including a servo motor 307, and is locked in
  • the eccentric block 308 at the output end of the servo motor 307 includes a plurality of semi-circular weight plates 305 superimposed on each other.
  • the overall center of gravity of the lower robot is calculated; a photoelectric encoder is coaxially installed between the eccentric block 308 and the servo motor 307; the photoelectric encoder includes a chassis 1001, an encoder 1002, and a fixed position installed on the chassis
  • the photoelectric sensor 1003 between 1001 and the code disc 1002, the circumferential array on the code disc 1002 has a predetermined number of sector-shaped perforations 1004; the chassis 1001 and the eccentric block 308 are matched and connected by a deep groove ball bearing;
  • One side of the eccentric block 308 is provided with a clamping block 308a, a gap of a predetermined distance is formed between the clamping blocks 308a, and the eccentric block 308 is sleeved on the output end of the servo motor 307 and passed through a pair of nuts and The hexagon socket bolt clamps the gap.
  • the photoelectric encoder is used to sense the angular displacement and angular velocity of the output terminal of the servo motor 307 in real time, and convert
  • 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 adjusts the position of the eccentric block 308 and changes the forward direction of the underwater probe by changing the center of gravity.
  • the eccentric block 308 includes a plurality of semicircular counterweight plates 305 superimposed on each other.
  • the number of stacks of heavy plates is calculated based on the overall center of gravity of the underwater probe.
  • the center of gravity adjustment assembly 3 controls the steering of the jellyfish robot.
  • the reduction motor 301 starts to drive the second screw 303 to rotate.
  • the second screw 303 drives the transfer helical gear 306 to rotate, and the transfer gear drives the semicircular counterweight plate 305 to rotate, according to the turning radius.
  • the rotation angle of the semicircular counterweight plate 305 is calculated, and the center of gravity of the jellyfish robot is changed in real time according to the rotation angle of the semicircular counterweight plate 305.
  • the jellyfish robot will automatically tilt to the position of the center of gravity to complete the steering action; center of gravity adjustment component 3
  • the steering of the jellyfish robot can also be controlled by an eccentric motor.
  • the servo motor 307 drives the eccentric block 308 to rotate through a predetermined angle, thereby changing the position of the center of gravity of the jellyfish robot.
  • the photoelectric encoder senses the angular displacement and angular velocity of the output terminal of the servo motor 307 in real time. And convert the mechanical quantities of angular displacement and angular velocity into digital pulse signals.
  • the main working principle of the photoelectric encoder is photoelectric conversion.
  • the photoelectric encoder is mainly composed of an encoder 1002 and a photoelectric sensor 1003.
  • the encoder 1002 is coaxial with the servo motor 307 so that the rotation of the servo motor 307 drives the rotation of the encoder 1002, and then the photoelectric sensor 1003 outputs several pulses Signal, the current speed of the servo motor 307 can be calculated according to the number of pulses per second of the signal.
  • the code disc 1002 of the photoelectric encoder outputs two optical codes with a phase difference of 90 degrees, and the rotation direction of the servo motor 307 can be determined according to the state of the dual-channel output optical codes.
  • the vision 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. However, 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 terminal device and the vision unit 2, and the signal processing unit synthesizes the images collected by the camera 204 through a predetermined algorithm and displays them through the VR helmet; the user wears the VR helmet on the head, and the experience is 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.
  • binocular stereo vision plays a big role. The different images seen by the user's two eyes are generated separately and displayed on different displays.
  • Some systems use a single display, but after the user wears special glasses, one eye can only see the odd-numbered frames, and the other eye can only see the even-numbered frames.
  • the difference between odd and even frames is the parallax There is a sense of three-dimensionality and immersion.

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Abstract

一种依靠改变重力转向的水下机器人及其控制方法，水下机器人包括机器人本体、转向控制单元、视觉单元（2）以及终端设备。机器人本体包括壳体（1）、连接在壳体一侧的仿生肌肉以及安装在壳体一端的浮力驱动单元；转向控制单元包括内置在壳体内部预定位置处的重心调节组件（3）；视觉单元安装在机器人本体的首尾两端的预定位置上；终端设备包括密封安装在壳体内的信号处理单元，以及与信号处理单元远程连接的用户端。在水母机器人内部设置重心调节组件，通过改变自身重心位置使得该水母机器人在航行时自动偏向重心所在位置，由于转向控制单元集成在壳体内部，不与外界直接接触，故转向可靠性高。

Description

一种依靠改变重力转向的水下机器人及其控制方法 技术领域
本发明涉及一种水下机器人，具体涉及一种依靠改变重力转向的水下机器人及其控制方法。
 背景技术
水下机器人也称无人遥控潜水器，是一种工作于水下的极限作业机器人。水下环境恶劣危险，人的潜水深度有限，所以水下机器人已成为开发海洋的重要工具。
现有技术中水下机器人通常采用螺旋桨推动，通过在机身上设置多个螺旋桨，依靠桨叶转动产生推力，当需要转向时依靠各螺旋桨的转速差来实现；上述方法存在较大的局限性，且可靠性较低：由于整个动力装置暴露在水中，会影响发动机的寿命，且桨叶在高速转动时极易被水下的鱼类意外撞击造成发动机停转，安全性和可靠性不可小视。
 技术问题
提供一种依靠改变重力转向的水下机器人，解决了现有技术存在的上述问题。
 技术解决方案
一种依靠改变重力转向的水下机器人，包括机器人本体、转向控制单元、视觉单元、以及终端设备四部分。
其中，机器人本体，包括壳体，连接在所述壳体一侧的仿生肌肉，以及安装在所述壳体一端的浮力驱动单元；
转向控制单元，包括内置在所述壳体内部预定位置处的重心调节组件；
视觉单元，安装在所述机器人本体的首尾两端的预定位置上；
终端设备，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用户端，所述用户端包括智能手机、VR头盔。
在进一步的实施例中，所述仿生肌肉包括若干舵机，连接在所述舵机的输出端上的弹性贴片，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，所述弹性贴片与所述舵机的输出端通过一对相互啮合的齿轮和齿槽连接，并通过紧固帽锁紧；所述水母翼片呈碗状、且表面设有疏水层；仿生肌肉用于模拟真实水母的运动状态，利用排出水流产生的反作用力带动该水母机器人前进，弹性贴片在收到外界压力后发生形变，当压力撤去后迅速恢复原状。
在进一步的实施例中，所述舵机包括无刷电机，以及连接所述无刷电机的齿轮组；所述齿轮组设置在动力盒内，包括固定在所述无刷电机的输出端的第一齿轮，通过轴承和轴承座转动设置在所述动力盒内的第一转轴和第二转轴，依次固定在所述第一转轴上的第二齿轮、第三齿轮、第四齿轮、第五齿轮，以及依次固定在所述第二转轴上的第六齿轮、第七齿轮、第八齿轮、第九齿轮；所述弹性贴片的一端设有齿槽，所述齿槽与所述第九齿轮咬合，即所述齿槽的齿数与所述第九齿轮的齿数相同。所述第一齿轮与所述第二齿轮啮合，所述第三齿轮与所述第六齿轮啮合，所述第四齿轮与所述第七齿轮啮合，所述第五齿轮与所述第八齿轮啮合；所述第一齿轮、第二齿轮、第三齿轮、第四齿轮、第五齿轮、第六齿轮、第七齿轮、第八齿轮、第九齿轮同为直齿轮；所述第二齿轮、第三齿轮、第四齿轮、第五齿轮的内径与所述第一转轴的外径过盈配合；所述第六齿轮、第七齿轮、第八齿轮、第九齿轮的内径与所述第二转轴的外径过盈配合。舵机能够精准的控制每个弹性贴片。
在进一步的实施例中，所述重心调节组件包括减速电机，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第三转轴，以及固定在所述第三转轴上的偏心块；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该水母机器人的整体重心计算得出。根据转弯半径计算出半圆形配重板转动角度，根据半圆形配重板转过角度实时改变该水母机器人的重心，该水母机器人会自动向重心所在方位倾斜，完成转向动作。
在进一步的实施例中，所述重心调节组件还可以为偏心电动机，包括伺服电机，以及锁紧在所述伺服电机的输出端的偏心块，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依靠改变重力转向的水下机器人的整体重心计算得出；所述偏心块和伺服电机之间同轴安装有光电编码器；所述光电编码器包括底盘、码盘、以及以固定位置安装在所述底盘和码盘之间的光电传感器，所述码盘上圆周阵列有预定数量的扇形穿孔；所述底盘与所述偏心块之间通过深沟球轴承配合连接；所述偏心块的一侧设有夹紧块，所述夹紧块之间设有预定距离的缝隙，所述偏心块套设在所述伺服电机的输出端、并通过一对螺母和内六角螺栓将所述缝隙夹紧。光电编码器用于实时感应伺服电机输出端的角位移以及角速度，并将角位移以及角速度这些机械量转变为数字脉冲信号。
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，设置在所述壳体中部的一对升降舵，以及用于控制所述供气腔开启和闭合的电磁阀；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。升降舵能够对该水母机器人的浮沉起辅助作用，通过水流流经升降舵的上下表面制造出的流速差产生升力，调节升降舵的倾角能够改变升力大小和方向，限位块对升降舵起限位作用，防止因升降舵的摆动幅度过大造成失速。
在进一步的实施例中，所述视觉单元包括照明灯、红外探测仪、摄像头，以及声纳。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。
一种依靠改变重力转向的水下机器人的控制方法，其特征在于包括以下步骤：
S1、仿生肌肉启动，舵机工作，无刷电机的动力输出至齿轮组，最终输出至弹性贴片，带动弹性贴片摆动，每个舵机可根据前进方向和前进速率单独驱动，弹性贴片摆动后带动贴合在其上的水母翼片收缩或舒张，水母翼片舒张和收缩一次即为一个周期，每个周期都会排出预定的排水量，利用排出水流产生的反作用力带动该水母机器人前进，弹性贴片在收到外界压力后发生形变，当压力撤去后迅速恢复原状；
S2、重心调节组件控制该水母机器人转向，减速电机启动，带动第二螺杆转动，第二螺杆带动转接斜齿轮转动，转接齿轮带动半圆形配重板转动，根据转弯半径计算出半圆形配重板转动角度，根据半圆形配重板转过角度实时改变该水母机器人的重心，该水母机器人会自动向重心所在方位倾斜，完成转向动作；
S3、重心调节组件控制该水母机器人转向还可以通过偏心电动机完成，伺服电机带动偏心块转过预定角度，从而改变该水母机器人的重心位置，同时，光电编码器实时感应伺服电机输出端的角位移以及角速度，并将角位移以及角速度这些机械量转变为数字脉冲信号；
S4、视觉单元工作，用户端与视觉单元之间建立无线通信连接，信号处理单元将视觉单元产生的信号进行处理并发送至用户端，将水下画面发送至智能手机或VR头盔放映。
 有益效果
本发明涉及一种依靠改变重力转向的水下机器人，在水母机器人内部设置重心调节组件，通过改变自身重心位置使得该水母机器人在航行时自动偏向重心所在位置，由于转向控制单元集成在壳体内部，不与外界直接接触，故转向可靠性高。解决了传统水下机器人“依靠螺旋桨驱动，依靠桨叶转速差产生转向力，桨叶暴露在水中容易损坏、寿命低”的问题。
 附图说明
图1为本发明的部分拆解示意图。
图2为本发明实施例一中重心调节组件的立体图。
图3为本发明实施例二中重心调节组件的立体图。
图4为本发明重心调节组件中偏心块的结构示意图。
图5为本发明中舵机与弹性贴片配合安装的示意图。
图6为本发明中舵机的内部结构示意图。
图7为本发明中视觉单元的排布示意图。
图8为本发明中光电编码器的结构示意图。
图中各附图标记为：壳体1、视觉单元2、声纳201、照明灯202、红外探测仪203、摄像头204、重心调节组件3、减速电机301、联轴器302、第二螺杆303、第三转轴304、半圆形配重板305、转接斜齿轮306、伺服电机307、偏心块308、夹紧块308a、供气腔4、气囊5、舵机6、第一齿轮601、第二齿轮602、第三齿轮603、第四齿轮604、第五齿轮605、第六齿轮606、第七齿轮607、第八齿轮608、第九齿轮609、无刷电机610、第一转轴611、第二转轴612、弹性贴片7、水母翼片8、升降舵9、底盘1001、码盘1002、光电传感器1003、扇形穿孔1004。
 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7所示，本发明涉及一种依靠改变重力转向的水下机器人及其控制方法。下面分别对一种依靠改变重力转向的水下机器人和一种依靠改变重力转向的水下机器人的控制方法进行具体描述。
实施例一：
一种依靠改变重力转向的水下机器人包括壳体1、仿生肌肉、升降舵9、浮力驱动单元、转向控制单元、视觉单元2、信号处理单元、以及VR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VR头盔与所述信号处理单元之间远程连接。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。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。所述弹性贴片7与所述舵机6的输出端通过一对相互啮合的齿轮和齿槽连接，并通过紧固帽锁紧；所述水母翼片8呈碗状、且表面设有疏水层；仿生肌肉用于模拟真实水母的运动状态，利用排出水流产生的反作用力带动该水母机器人前进，弹性贴片7在收到外界压力后发生形变，当压力撤去后迅速恢复原状。所述转向控制单元包括减速电机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连接的第三转轴304，以及固定在所述第三转轴304上的偏心块308；所述偏心块308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308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。所述舵机6包括无刷电机610，以及连接所述无刷电机610的齿轮组；所述齿轮组设置在动力盒内，包括固定在所述无刷电机610的输出端的第一齿轮601，通过轴承和轴承座转动设置在所述动力盒内的第一转轴611和第二转轴612，依次固定在所述第一转轴611上的第二齿轮602、第三齿轮603、第四齿轮604、第五齿轮605，以及依次固定在所述第二转轴612上的第六齿轮606、第七齿轮607、第八齿轮608、第九齿轮609；所述弹性贴片7的一端设有齿槽，所述齿槽与所述第九齿轮609咬合，即所述齿槽的齿数与所述第九齿轮609的齿数相同。所述第一齿轮601与所述第二齿轮602啮合，所述第三齿轮603与所述第六齿轮606啮合，所述第四齿轮604与所述第七齿轮607啮合，所述第五齿轮605与所述第八齿轮608啮合；所述第一齿轮601、第二齿轮602、第三齿轮603、第四齿轮604、第五齿轮605、第六齿轮606、第七齿轮607、第八齿轮608、第九齿轮609同为直齿轮；所述第二齿轮602、第三齿轮603、第四齿轮604、第五齿轮605的内径与所述第一转轴611的外径过盈配合；所述第六齿轮606、第七齿轮607、第八齿轮608、第九齿轮609的内径与所述第二转轴612的外径过盈配合。舵机6能够精准的控制每个弹性贴片7。所述舵机6具体的传动过程如下：所述无刷电机610开启，带动第一齿轮601转动，第一齿轮601带动与之啮合的第二齿轮602转动，由于第三齿轮603、第四齿轮604、第五齿轮605与所述第二齿轮602同轴安装，故动力完全同步，此时第三齿轮603转动，带动与之啮合的第六齿轮606转动，第四齿轮604带动与之啮合的第七齿轮607转动，第五齿轮605带动与之啮合的第八齿轮608转动，由于所述第九齿轮609与所述第六齿轮606、第七齿轮607、第八齿轮608同轴安装，故动力完全同步，最终第九齿轮609转动。因为所述弹性贴片7的一端设有齿槽，所述齿槽与所述第九齿轮609咬合，故最终第九齿轮609带动弹性贴片7启动。
实施例二：
在上述实施例一的基础上，实施例二对所述重心调节组件3做出变化，并做出具体阐述：所述重心调节组件3还可以为偏心电动机，包括伺服电机307，以及锁紧在所述伺服电机307的输出端的偏心块308，所述偏心块308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所述一种依靠改变重力转向的水下机器人的整体重心计算得出；所述偏心块308和伺服电机307之间同轴安装有光电编码器；所述光电编码器包括底盘1001、码盘1002、以及以固定位置安装在所述底盘1001和码盘1002之间的光电传感器1003，所述码盘1002上圆周阵列有预定数量的扇形穿孔1004；所述底盘1001与所述偏心块308之间通过深沟球轴承配合连接；所述偏心块308的一侧设有夹紧块308a，所述夹紧块308a之间构成预定距离的缝隙，所述偏心块308套设在所述伺服电机307的输出端、并通过一对螺母和内六角螺栓将所述缝隙夹紧。光电编码器用于实时感应伺服电机307输出端的角位移以及角速度，并将角位移以及角速度这些机械量转变为数字脉冲信号。
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。转向控制单元调整偏心块308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308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308使得该水下探测器的整体重心发生偏移，从而改变航向。重心调节组件3控制该水母机器人转向，减速电机301启动，带动第二螺杆303转动，第二螺杆303带动转接斜齿轮306转动，转接齿轮带动半圆形配重板305转动，根据转弯半径计算出半圆形配重板305转动角度，根据半圆形配重板305转过角度实时改变该水母机器人的重心，该水母机器人会自动向重心所在方位倾斜，完成转向动作；重心调节组件3控制该水母机器人转向还可以通过偏心电动机完成，伺服电机307带动偏心块308转过预定角度，从而改变该水母机器人的重心位置，同时，光电编码器实时感应伺服电机307输出端的角位移以及角速度，并将角位移以及角速度这些机械量转变为数字脉冲信号。所述光电编码器的主要工作原理为光电转换。光电编码器主要由码盘1002和光电传感器1003构成，在伺服系统中，码盘1002与伺服电机307同轴致使伺服电机307的旋转带动码盘1002的旋转，再经光电传感器1003输出若干个脉冲信号，根据该信号的每秒脉冲数便可计算当前伺服电机307的转速。光电编码器的码盘1002输出两个相位差相差90度的光码，根据双通道输出光码的状态的改变便可判断出伺服电机307的旋转方向。接着，视觉单元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，终端设备与视觉单元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VR头盔放映；使用人员将VR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 (7)

  1. 一种依靠改变重力转向的水下机器人，其特征是包括：
    机器人本体，包括壳体，连接在所述壳体一侧的仿生肌肉，以及安装在所述壳体一端的浮力驱动单元；
    转向控制单元，包括内置在所述壳体内部预定位置处的重心调节组件；
    视觉单元，安装在所述机器人本体的首尾两端的预定位置上；
    终端设备，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用户端，所述用户端包括智能手机、VR头盔。
  2. 根据权利要求1所述的一种依靠改变重力转向的水下机器人，其特征在于：所述仿生肌肉包括若干舵机，连接在所述舵机的输出端上的弹性贴片，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，所述弹性贴片与所述舵机的输出端通过一对相互啮合的齿轮和齿槽连接，并通过紧固帽锁紧；所述水母翼片呈碗状、且表面设有疏水层。
  3. 根据权利要求2所述的一种依靠改变重力转向的水下机器人，其特征在于：所述舵机包括无刷电机，以及连接所述无刷电机的齿轮组；所述齿轮组设置在动力盒内，包括固定在所述无刷电机的输出端的第一齿轮，通过轴承和轴承座转动设置在所述动力盒内的第一转轴和第二转轴，依次固定在所述第一转轴上的第二齿轮、第三齿轮、第四齿轮、第五齿轮，以及依次固定在所述第二转轴上的第六齿轮、第七齿轮、第八齿轮、第九齿轮；所述弹性贴片的一端设有齿槽，所述齿槽与所述第九齿轮咬合，即所述齿槽的齿数与所述第九齿轮的齿数相同。
  4. 根据权利要求3所述的一种依靠改变重力转向的水下机器人，其特征在于：所述第一齿轮与所述第二齿轮啮合，所述第三齿轮与所述第六齿轮啮合，所述第四齿轮与所述第七齿轮啮合，所述第五齿轮与所述第八齿轮啮合；所述第一齿轮、第二齿轮、第三齿轮、第四齿轮、第五齿轮、第六齿轮、第七齿轮、第八齿轮、第九齿轮同为直齿轮；所述第二齿轮、第三齿轮、第四齿轮、第五齿轮的内径与所述第一转轴的外径过盈配合；所述第六齿轮、第七齿轮、第八齿轮、第九齿轮的内径与所述第二转轴的外径过盈配合。
  5. 根据权利要求1所述的一种依靠改变重力转向的水下机器人，其特征在于：所述重心调节组件包括减速电机，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第三转轴，以及固定在所述第三转轴上的偏心块；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依靠改变重力转向的水下机器人的整体重心计算得出。
  6. 根据权利要求1所述的一种依靠改变重力转向的水下机器人，其特征在于：所述重心调节组件还可以为偏心电动机，包括伺服电机，以及锁紧在所述伺服电机的输出端的偏心块，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依靠改变重力转向的水下机器人的整体重心计算得出；所述偏心块和伺服电机之间同轴安装有光电编码器；所述光电编码器包括底盘、码盘、以及以固定位置安装在所述底盘和码盘之间的光电传感器，所述码盘上圆周阵列有预定数量的扇形穿孔；所述底盘与所述偏心块之间通过深沟球轴承配合连接；所述偏心块的一侧设有夹紧块，所述夹紧块之间设有预定距离的缝隙，所述偏心块套设在所述伺服电机的输出端、并通过一对螺母和内六角螺栓将所述缝隙夹紧。
  7. 一种依靠改变重力转向的水下机器人的控制方法，其特征在于包括以下步骤：
    S1、仿生肌肉启动，舵机工作，无刷电机的动力输出至齿轮组，最终输出至弹性贴片，带动弹性贴片摆动，每个舵机可根据前进方向和前进速率单独驱动，弹性贴片摆动后带动贴合在其上的水母翼片收缩或舒张，水母翼片舒张和收缩一次即为一个周期，每个周期都会排出预定的排水量，利用排出水流产生的反作用力带动该水母机器人前进，弹性贴片在收到外界压力后发生形变，当压力撤去后迅速恢复原状；
    S2、重心调节组件控制该水母机器人转向，减速电机启动，带动第二螺杆转动，第二螺杆带动转接斜齿轮转动，转接齿轮带动半圆形配重板转动，根据转弯半径计算出半圆形配重板转动角度，根据半圆形配重板转过角度实时改变该水母机器人的重心，该水母机器人会自动向重心所在方位倾斜，完成转向动作；
    S3、重心调节组件控制该水母机器人转向还可以通过偏心电动机完成，伺服电机带动偏心块转过预定角度，从而改变该水母机器人的重心位置，同时，光电编码器实时感应伺服电机输出端的角位移以及角速度，并将角位移以及角速度这些机械量转变为数字脉冲信号；
    S4、视觉单元工作，用户端与视觉单元之间建立无线通信连接，信号处理单元将视觉单元产生的信号进行处理并发送至用户端，将水下画面发送至智能手机或VR头盔放映。
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