WO2020216073A1

WO2020216073A1 - Underwater decelerating robot and operation method therefor

Info

Publication number: WO2020216073A1
Application number: PCT/CN2020/084149
Authority: WO
Inventors: 陈焕若
Original assignee: 南京涵铭置智能科技有限公司
Priority date: 2019-04-24
Filing date: 2020-04-10
Publication date: 2020-10-29
Also published as: CN111252219A; CN109911159B; CN111268072B; CN111252219B; CN111268072A; CN109911159A

Abstract

An underwater decelerating robot and an operation method therefor. The underwater decelerating robot comprises a base assembly, a drive lifting assembly and a steering and deceleration assembly. The base assembly comprises a cabin body (3), and side panels (2) provided at two sides of the cabin body (3). The drive lifting assembly comprises a first drive device (1) and a second drive device (5) which pass through the side panels (2) and are provided at two sides of the cabin body (3), and a water storage tank (7) provided inside the cabin body (3). The steering and deceleration assembly comprises a tail fin (4) provided at the tail of the cabin body (3), a steering linkage assembly fixedly connected to the tail fin (4), and a reversing/deceleration device (408) rotatably connected to the steering linkage assembly. When a robot having an underwater deceleration device encounters a shoal of fish or a reef and needs to perform steering, a steering device is started, and the deceleration device operates in unison, ensuring that the robot does not collide with the reef or disperse the shoal of fish during the steering process.

Description

An underwater buffer robot and its working method

Technical field

The invention relates to the field of bionic robots, in particular to an underwater buffer robot and a working method thereof.

Background technique

With the development of underwater robotics and various robotics-related science and technology, the research of underwater robots has achieved many remarkable results. At present, many countries in the world are committed to the research and development of underwater robots. , The application fields of underwater robots are very extensive.

At present, the application fields of underwater robots involve industry, fishery, exploration and military, etc., and underwater robots have become an important tool for people to understand, develop and use the ocean.

However, when existing underwater robots encounter emergencies, such as reefs and fish schools, when they are turning, they cannot slow down the robot itself, and can only stop the forward driving force without backward buffering. The deceleration effect makes it easy to touch the reef, disperse the fish, and affect the normal exploration and shooting of the underwater robot.

technical problem

An underwater buffer robot and a working method thereof are provided to solve the above-mentioned problems existing in the prior art.

Technical solutions

An underwater buffer robot and its working method, including:

Basic components, including a cabin body, and side panels arranged on both sides of the cabin body;

The driving lift assembly includes a first driving device and a second driving device that penetrate the side plate and are arranged on both sides of the cabin, and a water storage bin arranged inside the cabin;

The steering buffer assembly includes a tail wing arranged at the tail of the cabin, a steering link assembly fixedly connected with the tail wing, and a reverse buffer device rotatably connected with the steering link assembly.

In a further embodiment, the first driving device and the second driving device are two sets of symmetrical mirroring units, and each group of mirroring units includes a rotating motor, a rotating fourth link rotatably connected to the rotating motor, and A rotating third link movably connected with the rotating fourth link, a rotating second link movably connected with the rotating third link, a rotating first link fixedly connected with the rotating second link, A fixed plate fixedly connected to the rotating first link, a drive motor fixedly connected to the fixed plate, and a drive propeller that penetrates the fixed plate and is electrically connected to the drive motor; the rotating first link Plug the connecting plate; the driving propeller rotates clockwise, and two mirroring units are designed in order to have the same weight of the left and right driving devices during the driving process and prevent the underwater buffer robot from tilting due to the difference in weight.

In a further embodiment, a connecting rod is provided between the first driving device and the second driving device, and a camera fixedly connected to the connecting rod is electrically connected to the control center to design the camera In order to take pictures of the underwater environment, the camera simultaneously surveys the left and right, acting as a vision, and connects each communication buoy to the underwater robot in sequence, transmits relevant data and reports it to the control center.

In a further embodiment, the end of the water storage bin is connected to a water storage pipe; the end of the water storage bin is connected to a water storage pipe; the water storage pipe is bent along the water storage bin body; The inside of the silo is provided with a water storage cylinder; the end of the water storage cylinder is plugged into the cylinder telescopic shaft; one end of the cylinder telescopic shaft is fixedly connected with a sealing disk; the sealing disk is attached to the inner wall of the water storage silo to store water The main purpose of the warehouse is to increase the weight of the underwater buffer robot during the dive, so that the underwater buffer robot can dive more quickly.

In a further embodiment, the steering link assembly includes a first steering link fixedly connected to the tail, and a second steering link movably connected to the first steering link, which is arranged on the first steering link. The steering third link at the end of the two connecting rods, the steering fourth link movably connected with the steering third link, the reverse buffer device fixedly connected to the steering fourth link, and the A steering link shaft at three quarters of the third link; the steering link shaft is inserted into the bottom of the cabin, and a steering link disc is provided between the steering link shaft and the bottom of the cabin; Three-quarters of a connecting rod is provided with a steering fixed rod, the steering fixed rod is fixedly connected with the bottom of the cabin, and the steering fixed rod is movably connected with the steering first connecting rod. The steering connecting rod assembly is designed mainly for control The tail wing swings to complete the steering of the underwater buffer robot.

In a further embodiment, the reverse buffer device includes a buffer disk fixedly connected to the fourth steering link, a buffer shaft inserted into the buffer disk, and a buffer first gear sleeved with the buffer shaft, The buffer second gear meshed with the buffer first gear, the buffer second gear shaft of the buffer second gear inserted, and the buffer propeller fixedly connected with the buffer second gear shaft, the reverse buffer device is designed to When the underwater robot is turning, due to the effect of inertia, the short-distance turning is prone to touch the reef and disperse the fish.

In a further embodiment, the steering of the buffer propeller is counterclockwise; the cabin is a transparent cabin; the buffer shaft penetrates the buffer first gear and is connected with an input motor, and the design of the buffer propeller is Rotating counterclockwise is opposite to the steering of the driving propeller. During the steering process, the buffer propeller and the driving propeller will form the opposite force of the two brothers, thereby reducing the inertia.

A working method of an underwater buffer robot includes:

S1: When the underwater buffer robot needs to dive, the water storage cylinder drives the cylinder telescopic rod to contract, and then drives the sealing plate to move along the inner wall of the water storage silo, and then extracts the water body, so that the water is pumped into the water storage silo along the water storage pipe , Thereby increasing the weight of the underwater buffer robot to complete the dive;

S2: When the underwater buffer robot completes diving, the driving motor drives the propeller to rotate, and then drives the underwater buffer robot to move forward, and when the underwater buffer robot needs to adjust the diving depth, the rotating motor drives the fourth link to rotate Rotate, and then drive the rotating third link to reciprocate back and forth, and then drive the rotating second link to swing, and then drive the rotating first link to reciprocate along a predetermined range, and then drive the fixed plate to reciprocate along a predetermined range , And then drive the driving propeller to reciprocate along a predetermined amplitude, and then complete the adjustment of the angle of the driving propeller, and then adjust the diving depth of the underwater buffer robot;

S3: When the underwater robot encounters fish or reefs and needs to turn, the output motor drives the buffer disk to rotate, and then drives the steering fourth link to perform back and forth reciprocating motion, and then drives the steering third link to swing, and then drives the steering The second link performs reciprocating motion, and then drives the steering first link to swing, and then drives the tail to swing, thereby completing the steering when the underwater robot encounters fish and reefs;

S4: When the underwater robot is turning, the output motor drives the first buffer gear to rotate, which in turn drives the second buffer gear to rotate, and then drives the second buffer gear to rotate, and then drives the buffer propeller to rotate, and the buffer propeller rotates. The direction of rotation is opposite to that of the driving propeller. At this time, the buffer propeller will provide a reverse force in the water, thereby decelerating the underwater robot's running speed under water to achieve the buffer effect of steering, so that the underwater robot will not It will touch the reef to disperse the fish and reduce the shooting material;

S5: When the underwater robot moves to a predetermined position, the camera will transmit the captured image to the control center screen, and then the control center will control the camera's angle of view to shoot. When the underwater robot completes the shooting, it will be driven by the water storage cylinder The telescopic rod of the cylinder expands, and then drives the sealing plate to move along the inner wall of the water storage tank, and then discharges the water body, so that the water body is discharged to the outside of the water storage tank along the water storage pipe, thereby reducing the weight of the underwater buffer robot, and completing the underwater robot The rise

S6: When the underwater robot needs to quickly rise to the surface of the water, the rotating motor drives the rotating fourth link to rotate, which in turn drives the rotating third link to reciprocate back and forth, and then drives the rotating second link to swing, which in turn drives rotation The first connecting rod performs reciprocating rotation along a predetermined range, and then drives the fixed plate to reciprocate along a predetermined range, and then drives the driving propeller to reciprocate along a predetermined range, thereby completing the adjustment of the angle of the driving propeller, so that the propeller cuts diagonally upward, and then adjusts The speed at which the underwater buffer robot rises to the surface.

In a further embodiment, a working method of an underwater buffer robot further includes the following steps:

S7, automatic shooting process:

S71. Set up a number of communication buoys evenly distributed or distributed according to a predetermined route in a predetermined water area. The communication buoy has a first antenna that extends below the surface of the water and is connected to the underwater robot in communication, and is extended to the sky to communicate with the control center. The second antenna for communication, the thruster used to drive the movement of the buoy, and the power supply;

S72. Deploy the underwater robot in a predetermined water area, start the communication signal test, and record the communication time and communication signal strength between each communication buoy and the underwater robot;

S73. When the underwater robot moves and shoots according to the predetermined route, each communication buoy communicates with the underwater robot in sequence, transmits relevant data and reports it to the control center. According to the communication signal strength and the obtained experience data, calculate the communication buoy and The distance between underwater robots;

S74. The recovery ship waits for the underwater robot at the end point and recovers it.

In a further embodiment, the step S7 further includes an abnormal situation processing step:

S75. When the communication buoy deviates from the predetermined route due to waves, currents or other reasons, turn on the propeller to move it to the predetermined position;

S76. When the communication environment of the predetermined water area deteriorates, causing the communication signal strength between the communication buoy and the underwater robot to weaken, turn on the pusher to make the communication buoy move with the movement of the underwater robot to ensure that the signal strength exceeds the threshold;

S77. When the underwater robot encounters an obstacle in the preset route, adjust the route according to the signal of the control center, and at the same time, turn on the nearest communication buoy to make it track the movement of the underwater robot to ensure smooth communication;

S78. When the underwater robot fails, turn on the propellers of the nearby communication buoys to make at least three communication buoys communicate with the underwater robot to determine the position of the underwater robot.

Beneficial effect

The invention discloses an underwater buffer robot and a working method thereof. A reverse buffer device is designed. When the underwater buffer robot encounters fish or rocks and needs to turn, it has a reverse buffer effect to ensure underwater The buffer robot will not touch the reefs and disperse the fish during the turning process, and the reverse buffer device and the tail wing are driven by the same set of motors. When the turning range is larger, the reverse buffer effect will be stronger, and a number of them are set in the predetermined water area. A communication buoy evenly distributed or distributed according to a predetermined route. The communication buoy has a first antenna extending below the water surface and communicating with the underwater robot, and a second antenna extending toward the sky for communicating with the control center, so that The control center does not need to follow the underwater robot to take pictures, which reduces underwater vibration, so that the fish will not be disturbed and will not disperse the fish.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the present invention.

Figure 2 is a schematic diagram of the drive assembly mechanism of the present invention.

Figure 3 is a schematic diagram of the rotating link mechanism of the present invention.

Fig. 4 is a schematic diagram of the tail steering buffer mechanism of the present invention.

Figure 5 is a schematic diagram of the storage bin of the present invention.

Fig. 6 is a schematic diagram of the cylinder pushing of the water storage bin of the present invention.

Figure 7 is a schematic diagram of the reverse buffer propeller of the present invention

The reference signs are: first driving device 1, driving motor 101, driving propeller 102, fixed plate 103, rotating first connecting rod 104, rotating third connecting rod 105, rotating motor 106, blade 107, paddle head 108, rotating Fourth connecting rod 109, connecting disc 110, rotating second connecting rod 111, side plate 2, cabin 3, tail 4, steering first connecting rod 401, steering fixed rod 402, steering second connecting rod 403, steering third Connecting rod 404, steering connecting rod disk 405, steering connecting rod shaft 406, steering fourth connecting rod 407, reverse buffer device 408, buffer disk 409, buffer first gear 410, buffer second gear 411, buffer second gear shaft 412, buffer shaft 413, buffer propeller 414, steering link assembly 415, second driving device 5, camera 6, water storage tank 7, water storage pipe 701, water storage cylinder 702, cylinder telescopic shaft 703, and sealing disk 704.

Embodiments of the invention

In the following description, a lot of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

After careful research by the applicant, this problem occurred (the underwater robot is easy to touch the reef, disperse the fish, and affect the normal exploration and shooting of the underwater robot). The reason is that the current underwater robot encounters emergencies For example, reefs and fish schools cannot decelerate the robot itself when turning, and can only stop the forward driving force. There is no backward buffering or deceleration effect. It is easy to touch the reef and disperse the fish. It affects the normal exploration and shooting of the underwater robot, and during the shooting process, the control center needs to follow the shooting robot. During the shooting process, the control center needs to move and connect the underwater robot with a cable to transmit the signal. However, during the movement of the control center, the fish schools are often disturbed, and the fish schools are dispersed, reducing the shooting scene. However, the present invention designs a reverse buffer device. When the underwater buffer robot encounters fish or rocks and needs to turn, It has a reverse buffering effect to ensure that the underwater buffer robot will not touch the reef and disperse the fish during the turning process, and the reverse buffer device and the tail wing are driven by the same group of motors. When the turning range is greater, the reverse The buffering effect of the direction is also stronger, reducing the escape of fish schools, and setting up a number of communication buoys evenly distributed or distributed according to a predetermined route in a predetermined water area. The communication buoy has a first communication buoy that extends below the water surface and is connected to the underwater robot. Antenna, the second antenna that extends to the sky and used to communicate with the control center, so that the control center does not need to follow the underwater robot to take pictures, reduces underwater vibration, makes the fish school not disturbed, and does not disperse the fish school .

An underwater buffer robot, comprising: a first driving device 1, a driving motor 101, a driving propeller 102, a fixed plate 103, a rotating first connecting rod 104, a rotating third connecting rod 105, a rotating motor 106, a blade 107, a paddle Head 108, rotating fourth link 109, connecting disc 110, rotating second link 111, side plate 2, cabin 3, tail 4, steering first link 401, steering fixed rod 402, steering second link 403 , Steering third link 404, steering link disk 405, steering link shaft 406, steering fourth link 407, reverse buffer device 408, buffer disk 409, buffer first gear 410, buffer second gear 411, buffer Second gear shaft 412, buffer shaft 413, buffer propeller 414, steering link assembly 415, second drive device 5, camera 6, water storage tank 7, water storage pipe 701, water storage cylinder 702, cylinder telescopic shaft 703, Seal the disc 704.

Wherein, a first driving device 1 and a second driving device 5 are provided on both sides of the cabin 3, and a tail 4 is provided at the end of the cabin 3, and the tail 4 is fixedly connected with the steering link assembly 415, so A water storage bin 7 is arranged inside the cabin 3, and side panels 2 are fixedly connected to both sides of the cabin 3.

In a further embodiment, the first driving device 1 and the second driving device 5 are two sets of symmetrical mirroring units, and each group of mirroring units includes a rotating motor 106, and a rotating fourth unit rotatably connected to the rotating motor 106. The connecting rod 109, the rotating third connecting rod 105 movably connected with the rotating fourth connecting rod 109, the rotating second connecting rod 111 movably connected with the rotating third connecting rod 105, and the rotating second connecting rod 111 fixedly connected rotating first link 104, fixed plate 103 fixedly connected to said rotating first link 104, drive motor 101 fixedly connected to said fixed plate 103, and penetrated said fixed plate 103 and connected with The driving propeller 102 is electrically connected to the driving motor 101; the rotating first connecting rod 104 is plugged into the connecting plate 110; the driving propeller 102 rotates clockwise, and two mirroring units are designed for the left and right driving devices in the driving process The weight of the underwater buffer robot is the same to prevent the underwater buffer robot from tilting due to different weights. At this time, the driving motor 101 drives the driving propeller 102 to rotate, and then drives the underwater buffer robot to move forward, and when the underwater buffer robot needs to adjust the diving When the depth is deep, the rotating motor 106 drives the rotating fourth link 109 to rotate, and then drives the rotating third link 105 to reciprocate back and forth, and then drives the rotating second link 111 to swing, and then drives the rotating first link 104 to perform The reciprocating rotation along a predetermined range drives the fixed plate 103 to reciprocate along a predetermined range, and then drives the driving propeller 102 to reciprocate along a predetermined range, thereby completing the adjustment of the angle of the driving propeller 102 and adjusting the diving depth of the underwater buffer robot.

A connecting rod is provided between the first driving device 1 and the second driving device 5. The camera 6 fixedly connected to the connecting rod is electrically connected to the control center, and the camera 6 is designed for The underwater environment is photographed, while the camera 6 is used to survey the left and right, acting as a vision, and connect each communication buoy to the underwater robot in sequence, transmit relevant data and report to the control center.

The end of the water storage bin 7 is connected to a water storage pipe 701; the end of the water storage bin 7 is connected to a water storage pipe 701; the water storage pipe 701 is bent along the body of the water storage bin 7; 7 is provided with a water storage cylinder 702; the end of the water storage cylinder 702 is inserted into the cylinder telescopic shaft 703; one end of the cylinder telescopic shaft 703 is fixedly connected to the sealing disk 704; the sealing disk 704 and the water storage bin 7 The inner wall is fitted together. The storage tank 7 is designed mainly to increase the weight of the underwater buffer robot during the dive process, so that the underwater buffer robot can dive more quickly. At this time, the storage cylinder 702 drives the cylinder telescopic rod to contract, and then The sealing disc 704 is driven to move along the inner wall of the water storage bin 7 to extract the water body, so that the water body is pumped into the water storage bin 7 along the water storage pipe 701, thereby increasing the weight of the underwater buffer robot and completing the diving.

The steering link assembly 415 includes a first steering link 401 fixedly connected to the tail 4, a second steering link 403 movably connected to the first steering link 401, and a second steering link 403 arranged on the second steering link. The steering third link 404 at the end of the rod 403, the steering fourth link 407 movably connected to the steering third link 404, the reverse buffer device 408 fixedly connected to the steering fourth link 407, and The steering link shaft 406 is inserted into three quarters of the third link; the steering link shaft 406 is inserted into the bottom of the cabin 3, and there is provided between the steering link shaft 406 and the bottom of the cabin 3 Steering link disc 405; three-quarters of the first steering link 401 is provided with a steering fixing rod 402, the steering fixing rod 402 is fixedly connected to the bottom of the cabin 3, and the steering fixing rod 402 is connected to the steering A connecting rod 401 is movably connected, and the steering connecting rod assembly 415 is designed to control the swing of the tail 4 to complete the steering of the underwater buffer robot. At this time, the output motor drives the buffer disk 409 to rotate, and then drives the steering fourth The connecting rod 407 reciprocates back and forth, and then drives the steering third link 404 to swing, and then drives the steering second link 403 to reciprocate, and then drives the steering first link 401 to swing, and then drives the tail 4 to swing. Complete the turning of the underwater robot when encountering fish and reefs.

The reverse buffer device 408 includes a buffer disk 409 fixedly connected to the fourth steering link 407, a buffer shaft 413 inserted into the buffer disk 409, and a buffer first gear 410 sleeved on the buffer shaft 413, The buffer second gear 411 meshed with the buffer first gear 410, the buffer second gear shaft 412 of the buffer second gear 411 is inserted, and the buffer propeller 414 fixedly connected to the buffer second gear shaft 412 is designed The reverse buffering device 408 is designed to cause the short-distance turning of the underwater robot to easily touch the reef and disperse the fish when the underwater robot is turning. When the underwater robot is turning, the output motor drives the first buffer. The gear 410 rotates, thereby driving the second buffer gear 411 to rotate, thereby driving the second buffer pinion 412 to rotate, and then driving the buffer propeller 414 to rotate. The rotation direction of the buffer propeller 414 is opposite to the driving propeller 102. At this time, the buffer propeller 414 will provide a reverse force in the water, and then slow down the underwater robot's running speed under the water, to achieve the buffer effect of steering, so that the underwater robot will not touch the reef and disperse the fish when it turns. In order to reduce shooting materials, the driving propeller 102 in question includes a propeller head 108 and blades 107 arranged around the propeller head 108.

The steering of the buffer propeller 414 is counterclockwise; the cabin 3 is a transparent cabin 3; the buffer shaft 413 penetrates the buffer first gear 410 and is connected to an input motor. The design of the buffer propeller 414 is reversed. The clockwise rotation is opposite to the steering of the driving propeller 102. During the steering, the buffer propeller 414 and the driving propeller 102 will form opposite forces, thereby reducing inertia.

Working principle description: When the underwater buffer robot needs to dive, the storage cylinder 702 drives the cylinder telescopic rod to contract, and then drives the sealing plate 704 to move along the inner wall of the storage tank 7, and then extracts the water body so that the water body follows the water storage pipe 701 It is pumped into the water storage tank 7 to increase the weight of the underwater buffer robot to complete diving. When the underwater buffer robot completes diving, the driving motor 101 drives the driving propeller 102 to rotate, thereby driving the underwater buffer robot to move forward. When the underwater buffer robot needs to adjust the diving depth, the rotating motor 106 drives the rotating fourth link 109 to rotate, and then drives the rotating third link 105 to reciprocate back and forth, and then drives the rotating second link 111 to swing. In turn, the rotating first connecting rod 104 is driven to reciprocate along a predetermined range, and the fixed plate 103 is driven to reciprocate along a predetermined range, thereby driving the driving propeller 102 to reciprocate along a predetermined range, thereby completing the adjustment of the angle of the driving propeller 102, and then Adjust the diving depth of the underwater buffer robot, and when the underwater robot encounters fish or reefs and needs to turn, the output motor drives the buffer disk 409 to rotate, and then drives the steering fourth link 407 to perform back and forth reciprocating motion, and then drive the steering The three link 404 swings, and then drives the steering second link 403 to reciprocate, and then drives the steering first link 401 to swing, and then drives the tail 4 to swing, and then completes the steering of the underwater robot when encountering fish and reefs. When the underwater robot is turning, the output motor drives the buffer first gear 410 to rotate, which in turn drives the buffer second gear 411 to rotate, which in turn drives the buffer second gear shaft 412 to rotate, and then drives the buffer propeller 414 to rotate. The direction of rotation of the buffer propeller 414 is opposite to that of the driving propeller 102. At this time, the buffer propeller 414 will provide a reverse force in the water, thereby decelerating the underwater operating speed of the underwater robot to achieve the buffering effect of steering, and make the water When the lower robot turns, it will not touch the reef, disperse the fish, and reduce the shooting material. When the underwater robot moves to a predetermined position, the camera 6 transmits the captured image to the control center screen, and then the control center Control the perspective of the camera 6 to shoot. When the underwater robot completes the shooting, the water storage cylinder 702 drives the cylinder telescopic rod to extend, and then drives the sealing disc 704 to move along the inner wall of the water storage tank 7, and then discharges the water body, making the water body along The water storage pipe 701 is discharged to the outside of the water storage tank 7, thereby reducing the weight of the underwater buffer robot, and completing the ascent of the underwater robot. When the underwater robot needs to rise to the surface quickly, the rotating motor 106 drives the fourth link to rotate 109 rotates, and then drives the rotating third link 105 to reciprocate back and forth, and then drives the rotating second link 111 to swing, and then drives the rotating first link 104 to reciprocate along a predetermined amplitude, and then drives the fixed plate 103 along Reciprocating rotation at a predetermined amplitude, and then with The dynamic driving propeller 102 reciprocates along a predetermined amplitude to complete the adjustment of the angle of the driving propeller 102, so that the propeller cuts diagonally upward, thereby adjusting the speed of the underwater buffer robot ascending to the water surface.

Automatic shooting process: Set up a number of communication buoys evenly distributed or distributed according to a predetermined route in a predetermined water area. The communication buoy has a first antenna that extends below the surface of the water and is connected to the underwater robot in communication. The second antenna of the control center communication, the thruster used to drive the movement of the buoy, and the power supply, arrange the underwater robot in a predetermined water area, start the communication signal test, and record the communication time and communication signal strength between each communication buoy and the underwater robot, When the underwater robot moves and shoots according to the predetermined route, each communication buoy communicates with the underwater robot in sequence, transmits relevant data and reports it to the control center, and calculates the communication buoy and the underwater according to the communication signal strength and the obtained empirical data The distance between the robots, the recovery ship waits for the underwater robot at the end point and recovers it.

Handling steps for abnormal situations: When the communication buoy deviates from the predetermined route due to waves, currents or other reasons, turn on the thruster to move it to a predetermined position. When the communication environment of the predetermined water area deteriorates, the communication between the communication buoy and the underwater robot is caused When the signal strength becomes weak, turn on the pusher to make the communication buoy move with the movement of the underwater robot to ensure that the signal strength exceeds the threshold. When the underwater robot encounters an obstacle on the preset route, adjust the route according to the signal from the control center. At the same time, turn on the nearest communication buoy to enable it to track the movement of the underwater robot to ensure smooth communication. When the underwater robot fails, turn on the propellers of the nearby communication buoy to make at least 3 communication buoys communicate with the underwater robot , To determine the position of the underwater robot, the propeller is a propeller.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

The preferred embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details in the above-mentioned embodiments. Within the scope of the technical concept of the present invention, various equivalent changes can be made to the technical solutions of the present invention. These equivalent transformations all belong to the protection scope of the present invention.

Claims

An underwater buffer robot, which is characterized in that it includes:

Basic components, including a cabin body, and side panels arranged on both sides of the cabin body;

The driving lift assembly includes a first driving device and a second driving device that penetrate the side plate and are arranged on both sides of the cabin, and a water storage bin arranged inside the cabin;

The steering buffer assembly includes a tail wing arranged at the tail of the cabin, a steering link assembly fixedly connected with the tail wing, and a reverse buffer device rotatably connected with the steering link assembly.
The underwater buffer robot and its working method according to claim 1, wherein the first driving device and the second driving device are two sets of symmetrical mirror units, and each group of mirror units includes a rotating motor, A rotating fourth link rotatably connected with the rotating motor, a rotating third link movably connected with the rotating fourth link, a rotating second link movably connected with the rotating third link, and The rotating first connecting rod fixedly connected to the rotating second connecting rod, the fixed plate fixedly connected to the rotating first connecting rod, the driving motor fixedly connected to the fixed plate, and the rotating first connecting rod which penetrates the fixed plate and is connected to the drive The driving propeller is electrically connected to the motor; the rotating first connecting rod is plugged into the connecting disc; the driving propeller rotates clockwise.
The underwater buffer robot and its working method according to claim 2, wherein a connecting rod is provided between the first driving device and the second driving device, and the camera is fixedly connected to the connecting rod. The camera is electrically connected to the control center.
The underwater buffer robot and its working method according to claim 1, characterized in that: the end of the water storage bin is connected with a water storage pipe; the water storage pipe is bent along the water storage bin body; The water storage bin is provided with a water storage cylinder; the end of the water storage cylinder is inserted into the cylinder telescopic shaft; one end of the cylinder telescopic shaft is fixedly connected with a sealing disc; the sealing disc is attached to the inner wall of the water storage bin.
The underwater buffer robot and its working method according to claim 1, wherein the steering link assembly includes a steering first connecting rod fixedly connected to the tail, and the steering first connecting rod The second steering link movably connected, the third steering link provided at the end of the second steering link, the fourth steering link movably connected to the third steering link, and the fourth steering link A reverse buffer device fixedly connected to the connecting rod, and a steering link shaft inserted into the third link at three quarters; the steering link shaft is inserted into the bottom of the cabin body, and the steering link shaft is connected to the cabin There is a steering link disk between the bottom of the body; three-quarters of the first steering link is provided with a steering fixed rod, the steering fixed rod is fixedly connected to the bottom of the cabin, and the steering fixed rod is connected to the steering A connecting rod is movably connected.
An underwater buffer robot and its working method according to claim 5, characterized in that: the reverse buffer device comprises a buffer disk fixedly connected to the steering fourth link, and the buffer disk is inserted into the buffer disk. The buffer shaft is sleeved with the buffer first gear of the buffer shaft, the buffer second gear meshed with the buffer first gear, the buffer second gear shaft of the buffer second gear is inserted, and the buffer second gear Buffer propeller with fixed pinion connection.
The underwater buffer robot and its working method according to claim 6, characterized in that: the steering of the buffer propeller is counterclockwise rotation; the cabin is a transparent cabin; and the buffer shaft penetrates the Buffer the first gear and externally connect the input motor.
A working method of an underwater buffer robot is characterized in that it comprises:

S1: When the underwater buffer robot needs to dive, the water storage cylinder drives the cylinder telescopic rod to contract, and then drives the sealing plate to move along the inner wall of the water storage silo, and then extracts the water body, so that the water is pumped into the water storage silo along the water storage pipe , Thereby increasing the weight of the underwater buffer robot to complete the dive;

S2: When the underwater buffer robot completes diving, the driving motor drives the propeller to rotate, and then drives the underwater buffer robot to move forward, and when the underwater buffer robot needs to adjust the diving depth, the rotating motor drives the fourth link to rotate Rotate, and then drive the rotating third link to reciprocate back and forth, and then drive the rotating second link to swing, and then drive the rotating first link to reciprocate along a predetermined range, and then drive the fixed plate to reciprocate along a predetermined range , And then drive the driving propeller to reciprocate along a predetermined amplitude, and then complete the adjustment of the angle of the driving propeller, and then adjust the diving depth of the underwater buffer robot;

S3: When the underwater robot encounters fish or reefs and needs to turn, the output motor drives the buffer disk to rotate, and then drives the steering fourth link to perform back and forth reciprocating motion, and then drives the steering third link to swing, and then drives the steering The second link performs reciprocating motion, and then drives the steering first link to swing, and then drives the tail to swing, thereby completing the steering when the underwater robot encounters fish and reefs;

S4: When the underwater robot is turning, the output motor drives the first buffer gear to rotate, which in turn drives the second buffer gear to rotate, and then drives the second buffer gear to rotate, and then drives the buffer propeller to rotate, and the buffer propeller rotates. The direction of rotation is opposite to that of the driving propeller. At this time, the buffer propeller will provide a reverse force in the water, thereby decelerating the underwater robot's running speed under water to achieve the buffer effect of steering, so that the underwater robot will not It will touch the reef to disperse the fish and reduce the shooting material;

S5: When the underwater robot moves to a predetermined position, the camera will transmit the captured image to the control center screen, and then the control center will control the camera's angle of view to shoot. When the underwater robot completes the shooting, it will be driven by the water storage cylinder The telescopic rod of the cylinder expands, and then drives the sealing plate to move along the inner wall of the water storage tank, and then discharges the water body, so that the water body is discharged to the outside of the water storage tank along the water storage pipe, thereby reducing the weight of the underwater buffer robot, and completing the underwater robot The rise

S6: When the underwater robot needs to quickly rise to the surface of the water, the rotating motor drives the rotating fourth link to rotate, which in turn drives the rotating third link to reciprocate back and forth, and then drives the rotating second link to swing, which in turn drives rotation The first connecting rod performs reciprocating rotation along a predetermined range, and then drives the fixed plate to reciprocate along a predetermined range, and then drives the driving propeller to reciprocate along a predetermined range, thereby completing the adjustment of the angle of the driving propeller, so that the propeller cuts diagonally upward, and then adjusts The speed at which the underwater buffer robot rises to the surface.
The working method of an underwater buffer robot according to claim 8, characterized in that it further comprises the following steps:

S7, automatic shooting process:

S71. Set up a number of communication buoys evenly distributed or distributed according to a predetermined route in a predetermined water area. The communication buoy has a first antenna that extends below the surface of the water and is connected to the underwater robot in communication, and is extended to the sky to communicate with the control center. The second antenna for communication, the thruster used to drive the movement of the buoy, and the power supply;

S72. Deploy the underwater robot in a predetermined water area, start the communication signal test, and record the communication time and communication signal strength between each communication buoy and the underwater robot;

S73. When the underwater robot moves and shoots according to the predetermined route, each communication buoy communicates with the underwater robot in sequence, transmits relevant data and reports it to the control center. According to the communication signal strength and the obtained experience data, calculate the communication buoy and The distance between underwater robots;

S74. The recovery ship waits for the underwater robot at the end point and recovers it.
The working method of an underwater buffer robot according to claim 9, wherein the S7, automatic shooting process further includes an abnormal situation processing step:

S75. When the communication buoy deviates from the predetermined route due to waves, currents or other reasons, turn on the propeller to move it to the predetermined position;

S76. When the communication environment of the predetermined water area deteriorates, causing the communication signal strength between the communication buoy and the underwater robot to weaken, turn on the pusher to make the communication buoy move with the movement of the underwater robot to ensure that the signal strength exceeds the threshold;

S77. When the underwater robot encounters an obstacle in the preset route, adjust the route according to the signal of the control center, and at the same time, turn on the nearest communication buoy to make it track the movement of the underwater robot to ensure smooth communication;

S78. When the underwater robot fails, turn on the propellers of the nearby communication buoys to make at least three communication buoys communicate with the underwater robot to determine the position of the underwater robot.