CN113371161A - Novel two propeller intelligence underwater robot - Google Patents
Novel two propeller intelligence underwater robot Download PDFInfo
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- CN113371161A CN113371161A CN202110789240.4A CN202110789240A CN113371161A CN 113371161 A CN113371161 A CN 113371161A CN 202110789240 A CN202110789240 A CN 202110789240A CN 113371161 A CN113371161 A CN 113371161A
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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
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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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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Abstract
The invention provides a novel two-propeller intelligent underwater robot, and relates to the technical field of intelligent underwater robots. The novel two-propeller intelligent underwater robot comprises a robot framework, wherein a front sealed cabin and a rear sealed cabin are respectively arranged on two sides of the center of the robot framework, and a directional propeller is arranged in the center of the robot framework; the directional propeller comprises a duct, a waterproof motor and blades, the duct is installed at the center of the robot framework, the waterproof motor is installed at the center of the duct, the vector propeller is installed at the center of the tail end of the robot framework, and the vector propeller comprises a first underwater steering engine, a second underwater steering engine, a connecting shaft, a connecting frame and a main propeller. The intelligent underwater robot has the advantages of simple structure, high reliability, low cost, simple control logic, easy realization of a control system, rapid response, high control precision and the like, and reduces the development and manufacturing cost of the underwater robot on the premise of meeting the technical requirements.
Description
Technical Field
The invention relates to the technical field of intelligent underwater robots, in particular to a novel two-propeller intelligent underwater robot.
Background
At present, the deep sea detection technology field is developed at a high speed, and various detection methods and related technologies are highly valued by the academic and engineering circles, so that certain achievements are achieved. The deep sea detection technology refers in particular to a technology for acquiring single moment data of an ocean or a specific submarine area by sensing or sampling means in the deep sea field, and mainly comprises a deep sea carrier detection technology, a deep sea sensing detection technology, a deep sea sampling detection technology and other main research directions. The deep sea detection technology is developing towards systematization, synergy and intellectualization, and with the continuous progress of the artificial intelligence technology, the development direction of intellectualization is receiving much attention. The future artificial intelligence technology will play a role in the aspects of detection target identification and extraction, fault diagnosis and fault-tolerant control of detection equipment, efficient perception of deep sea environment and the like, and the comprehensive intelligence of the deep sea detection technology is promoted.
At present, the more advanced countries in the field of underwater robots are mainly ocean strong countries such as europe, the united states, japan and the like, research institutions are established in the last 60 th century for related technical research and product development, and through years of development, a large number of technologies are accumulated to form a complete underwater robot industry. The method has great advantages in the aspects of motion control of underwater robots, development of various types of underwater robots and the like, and is in the international advanced level. The research and the start of the underwater robot in China are relatively late, but certain achievements are achieved after ten years of efforts, and the self-developed large and medium-sized remote-control unmanned underwater vehicle (ROV) plays an important role in the aspects of marine resource exploration and development, underwater search and rescue and the like. However, China is still in a starting stage in the development aspect of underwater intelligent robots and is far behind the international advanced level. Therefore, it is necessary to develop an underwater intelligent robot which is resident underwater, has high energy utilization efficiency, a simple structure and high reliability, and long-time continuous efforts are required in the aspects of structural design and optimization, an intelligent unmanned control system and the like.
Therefore, a novel two-propeller intelligent underwater robot is developed.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a novel two-propeller intelligent underwater robot, which solves the problems of low energy utilization efficiency, excessively complex structure, short underwater endurance, poorer underwater working capability and insufficient reliability of the existing underwater intelligent robot.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a novel two propeller intelligence underwater robot, includes the robot skeleton, has mainly carried on sensors such as camera, attitude sensor, acceleration sensor, sonar, temperature sensor, depth sensor for gather self and external information.
The two sides of the center of the robot framework are respectively provided with a front sealed cabin and a rear sealed cabin, and the center of the robot framework is provided with a directional propeller; the directional propeller can provide thrust to complete the up-and-down movement of the robot.
The directional propeller comprises a duct, a waterproof motor and blades, the duct is installed in the center of the robot framework, the waterproof motor is installed in the center of the duct, and the blades are fixedly connected to the output end of the waterproof motor; the directional propeller is matched with the controller for use, can realize forward and reverse rotation and constant speed control, and provides a certain forward or reverse thrust.
The center of the tail end of the robot framework is provided with the vector thruster, the vector thruster can provide thrust in a certain direction and is used for providing power for forward movement, and component force of the thrust of the vector thruster can be used for offsetting rotating torque generated by the directional thruster, so that the underwater robot can move stably.
The center of the tail end of the robot framework is provided with a vector propeller, the vector propeller comprises a first underwater steering engine, a second underwater steering engine, a connecting shaft, a connecting frame and a main propeller, the center of the tail end of the robot framework is provided with the first underwater steering engine, one end, away from the robot framework, of the first underwater steering engine is provided with the second underwater steering engine, one end, away from the first underwater steering engine, of the second underwater steering engine is provided with the connecting shaft, the connecting frames are arranged between the first underwater steering engine and the second underwater steering engine and between the second underwater steering engine and the connecting shaft, and one end, away from the second underwater steering engine, of the connecting shaft is fixedly connected with the main propeller; vector propeller cooperation control module uses, can provide the directional, definite numerical value's of accuracy thrust, and this thrust can provide the power of direction of advance to can offset the rotation moment of torsion of robot body, vector propeller response is quick, control is accurate, is the main power device of intelligence underwater robot, has played crucial effect in the robot design.
Preferably, the robot framework is designed in a streamline structure, and the robot framework designed in the streamline structure reduces resistance of underwater motion.
Preferably, the center of the robot framework is provided with a mounting through hole corresponding to the directional propeller, and the mounting through hole is formed in the center of the robot framework, so that the directional propeller is convenient to mount and fix, and the directional propeller is convenient to provide up-and-down thrust for the robot when working.
Preferably, the front sealed cabin is a battery sealed cabin and is mainly used for providing a sealed and waterproof space for batteries, pressure reduction modules and the like.
Preferably, the rear sealed cabin is a sealed cabin of the control module and is mainly used for providing a sealed waterproof space for the control panel, the sensor and the like.
Preferably, the duct is fixed to the center of the robot skeleton.
Preferably, the connecting frame between the first underwater steering engine and the second underwater steering engine is a vertical swinging structure frame.
Preferably, the connecting frame between the second underwater steering engine and the connecting shaft is a horizontal swinging structure frame.
Preferably, the main propeller is composed of a driving motor and a screw propulsion module.
Preferably, a protective cover is arranged outside the main propeller spiral propelling module.
When the intelligent underwater robot performs attitude and depth control, accurate control of the attitude and the depth of the robot can be realized through division and cooperation of a yaw angle controller, a pitch angle controller, a depth controller, a motor control model, a motor controller and the like; the state of the robot can be measured by using the attitude sensor and the depth sensor, the state information is fed back, closed-loop control is completed, and the control precision is improved.
The intelligent underwater robot can realize the accurate control of a pitch angle and a yaw angle through a vector thruster, can finish high-precision depth fixing and directional navigation through a control model, outputs a reasonable signal duty ratio (PWM) value through operation by the motor control model, inputs a signal into a motor controller, finishes the starting, stopping and fixed rotating speed control of each motor by the aid of the motor controller, and is high in response speed of the control model, stable in motor control and high in precision.
Through the accurate control to directional propeller, vector propeller, underwater robot can accomplish the fixed gesture of high accuracy and the navigation of depthkeeping, accomplishes more complicated motion on this basis, satisfies the detection and the operation demand.
The intelligent underwater robot control system mainly comprises an environment sensing system, a positioning navigation system, a path planning system, a central processing unit, a motion control system, an auxiliary function control system and the like. The environment sensing system mainly acquires environment information through a sonar sensor, an image sensor, a depth sensor and the like, the information processing system is used for carrying out fusion processing on various sensor information, and the processed information is transmitted to the central processing unit and used for planning decisions; the positioning navigation system mainly comprises modules of underwater acoustic communication positioning, inertial navigation positioning, underwater map building positioning and the like; the positioning navigation system transmits the positioning information to the central processing unit to provide a basis for planning decision; the path planning system is mainly used for realizing a path planning function and mainly comprises modules such as an electronic map, path planning and the like; the central processing unit is the core part of the whole control system, mainly comprises a planning decision system, a data and control command transceiving module and the like, is responsible for the tasks of decision and control command transceiving and is the decision part of the whole control system; the motion control system mainly comprises a directional propeller control system and a vector propeller control system, and the vector propeller control system mainly comprises a rudder control module, a propeller control module and the like; and the auxiliary function control system is mainly used for finishing the functions of energy management, emergency obstacle avoidance, emergency return and the like.
(III) advantageous effects
The invention provides a novel two-propeller intelligent underwater robot. The method has the following beneficial effects:
1. the novel two-propeller intelligent underwater robot is simple in structure, high in reliability and low in cost, has the advantages of simple control logic, easy implementation of a control system, rapid response, high control precision and the like, and reduces development and manufacturing costs of the underwater robot on the premise of meeting technical requirements.
2. This kind of novel two propeller intelligence underwater robot through using vector propeller, improving underwater robot control system, under the prerequisite of ensureing the function, very big simplification underwater robot's structure, simplify many propellers underwater robot into two propellers, reduced underwater robot's research and development and manufacturing cost, improved holistic reliability.
3. This kind of novel two propeller intelligence underwater robot has optimized structural design, cuts apart into the front and back cabin with the sealed cabin, and directional propeller arranges between two cabins, and the rational utilization space has reduced the holistic space of underwater robot for underwater robot can the lightweight design.
4. This kind of novel two propeller intelligence underwater robot has improved energy utilization efficiency by a wide margin, has promoted underwater operation ability, has prolonged underwater duration.
5. This kind of novel two propeller intelligence underwater robot, control system robustness is high, the logic is simple, control is accurate promotes by a wide margin, easily realizes the modularized design, has reduced development cost, has improved holistic economic benefits.
6. This kind of novel two propeller intelligence underwater robot through using the vector propeller, very big reduction the complexity of whole underwater robot structure itself, the fixed propeller of robot middle part uses duct structure can effectively reduce the rotation moment, utilizes the rotation moment of the balanced self of component that the vector propeller produced, uses this design method can be under the prerequisite that realizes self motion balance, with the compacter of robot overall structure design, need not too long and narrow of design.
Drawings
FIG. 1 is a schematic structural diagram of a novel two-propeller intelligent underwater robot of the present invention;
FIG. 2 is a schematic view of an internal sealed cabin of the novel two-propeller intelligent underwater robot;
FIG. 3 is a schematic structural diagram of a novel two-propeller intelligent underwater robot directional propeller of the present invention;
FIG. 4 is a schematic structural diagram of a novel two-propeller intelligent underwater robot vector propeller of the present invention;
FIG. 5 is a schematic diagram of the principle of controlling underwater attitude and depth of the novel two-propeller intelligent underwater robot of the present invention;
fig. 6 is an architecture diagram of a novel two-propeller intelligent underwater robot control system according to the invention.
Wherein, 1, a robot framework; 2. a front sealed cabin; 3. a rear sealed cabin; 4. a directional thruster; 401. a duct; 402. a waterproof motor; 403. a blade; 5. a vector thruster; 501. a first underwater steering engine; 502. a second underwater steering engine; 503. a connecting shaft; 504. a connecting frame; 505. a main propeller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1, the embodiment of the invention provides a novel two-propeller intelligent underwater robot, which comprises a robot framework 1, wherein the robot framework 1 is designed in a streamline structure, and the robot framework 1 designed in the streamline structure reduces the resistance of underwater motion; the system mainly carries sensors such as a camera, an attitude sensor, an acceleration sensor, a sonar, a temperature sensor and a depth sensor and is used for collecting self and external information.
As shown in fig. 2, a front sealed cabin 2 and a rear sealed cabin 3 are respectively arranged at two sides of the center of a robot framework 1, and the front sealed cabin 2 is a battery sealed cabin and mainly used for providing a sealed and waterproof space for batteries, voltage reduction modules and the like; the rear sealed cabin 3 is a sealed cabin of the control module and is mainly used for providing a sealed waterproof space for a control panel, a sensor and the like.
As shown in fig. 3, a directional propeller 4 is installed at the center of the robot frame 1; the center of the robot framework 1 is provided with an installation through hole corresponding to the directional propeller 4, and the installation through hole is formed in the center of the robot framework 1, so that the directional propeller 4 can be conveniently installed and fixed, and the directional propeller 4 can provide up-and-down thrust for the robot during working; the directional propeller 4 can provide thrust to complete the up-and-down movement of the robot, and the duct 401 is fixed at the center of the robot framework 1.
The directional propeller 4 comprises a duct 401, a waterproof motor 402 and blades 403, the duct 401 is installed at the center of the robot framework 1, the waterproof motor 402 is installed at the center of the duct 401, and the blades 403 are fixedly connected to the output end of the waterproof motor 402; the directional propeller 4 is matched with the controller for use, can realize forward and reverse rotation and constant speed control, and provides a certain forward or reverse thrust;
as shown in fig. 4, a vector thruster 5 is installed at the center of the tail end of the robot frame 1, the vector thruster 5 can provide thrust in a certain direction for providing power for forward movement, and a component of the thrust of the vector thruster 5 can be used for offsetting the rotating torque generated by the directional thruster 4, so that the underwater robot can move smoothly.
The vector thruster 5 comprises a first underwater steering engine 501, a second underwater steering engine 502, a connecting shaft 503, a connecting frame 504 and a main thruster 505, the first underwater steering engine 501 is installed in the center of the tail end of the robot framework 1, the second underwater steering engine 502 is installed at one end, away from the robot framework 1, of the first underwater steering engine 501, the connecting shaft 503 is installed at one end, away from the first underwater steering engine 501, of the second underwater steering engine 502, the connecting frame 504 is installed between the first underwater steering engine 501 and the second underwater steering engine 502 and between the second underwater steering engine 502 and the connecting shaft 503, and the main thruster 505 is fixedly connected to one end, away from the second underwater steering engine 502, of the connecting shaft 503; the main propeller 505 consists of a driving motor and a spiral propelling module, and a protective cover is arranged outside the spiral propelling module of the main propeller 505; a connecting frame 504 between the first underwater steering engine 501 and the second underwater steering engine 502 is a vertical swing structure frame, and a connecting frame 504 between the second underwater steering engine 502 and the main propeller 505 is a horizontal swing structure frame; vector propeller 5 cooperation control module uses, can provide directional, definite numerical value's thrust accurately, and this thrust can provide the power of direction of advance to can offset the rotation moment of torsion of robot body, vector propeller 5 responds rapidly, control is accurate, is the main power device of intelligence underwater robot, has played crucial effect in the robot design.
As shown in fig. 5, when the intelligent underwater robot performs attitude and depth control, the robot attitude and depth can be accurately controlled through the division and cooperation of a yaw angle controller, a pitch angle controller, a depth controller, a motor control model, a motor controller and the like; the state of the robot can be measured by using the attitude sensor and the depth sensor, the state information is fed back, closed-loop control is completed, and the control precision is improved.
The intelligent underwater robot can realize the accurate control of a pitch angle and a yaw angle through the vector thruster 5, can finish the high-precision depth fixing and directional navigation through the control model, outputs a reasonable signal duty ratio (PWM) value through operation by the motor control model, inputs a signal into the motor controller, finishes the starting, stopping and fixed rotating speed control of each motor by the aid of the motor controller, and is high in response speed of the control model, stable in motor control and high in precision.
Through the accurate control to directional propeller 4, vector propeller 5, underwater robot can accomplish the fixed gesture of high accuracy and the navigation of depthkeeping, accomplishes more complicated motion on this basis, satisfies the detection and the operation demand.
As shown in fig. 6, the intelligent underwater robot control system mainly comprises an environment sensing system, a positioning navigation system, a path planning system, a central processing unit, a motion control system, an auxiliary function control system, and the like. The environment sensing system mainly acquires environment information through a sonar sensor, an image sensor, a depth sensor and the like, the information processing system is used for carrying out fusion processing on various sensor information, and the processed information is transmitted to the central processing unit and used for planning decisions; the positioning navigation system mainly comprises modules of underwater acoustic communication positioning, inertial navigation positioning, underwater map building positioning and the like; the positioning navigation system transmits the positioning information to the central processing unit to provide a basis for planning decision; the path planning system is mainly used for realizing a path planning function and mainly comprises modules such as an electronic map, path planning and the like; the central processing unit is the core part of the whole control system, mainly comprises a planning decision system, a data and control command transceiving module and the like, is responsible for the tasks of decision and control command transceiving and is the decision part of the whole control system; the motion control system mainly comprises a directional propeller 4 control system and a vector propeller 5 control system, and the vector propeller 5 control system mainly comprises a rudder control module, a propeller control module and the like; and the auxiliary function control system is mainly used for finishing the functions of energy management, emergency obstacle avoidance, emergency return and the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a novel two propeller intelligence underwater robot, includes robot skeleton (1), its characterized in that: a front sealed cabin (2) and a rear sealed cabin (3) are respectively arranged on two sides of the center of the robot framework (1), and a directional propeller (4) is installed in the center of the robot framework (1);
the directional propeller (4) comprises a duct (401), a waterproof motor (402) and blades (403), the duct (401) is installed at the center of the robot framework (1), the waterproof motor (402) is installed at the center of the duct (401), and the blades (403) are fixedly connected to the output end of the waterproof motor (402);
a vector propeller (5) is arranged at the center of the tail end of the robot framework (1), the vector thruster (5) comprises a first underwater steering engine (501), a second underwater steering engine (502), a connecting shaft (503), a connecting frame (504) and a main thruster (505), a first underwater steering gear (501) is arranged at the center of the tail end of the robot framework (1), one end of the first underwater steering engine (501) far away from the robot framework (1) is provided with a second underwater steering engine (502), one end of the second underwater steering engine (502) far away from the first underwater steering engine (501) is provided with a connecting shaft (503), connecting frames (504) are respectively arranged between the first underwater steering engine (501) and the second underwater steering engine (502) and between the second underwater steering engine (502) and the connecting shaft (503), one end, far away from the second underwater steering engine (502), of the connecting shaft (503) is fixedly connected with a main propeller (505).
2. The novel two-propeller intelligent underwater robot of claim 1, characterized in that: the robot framework (1) is designed in a streamline structure.
3. The novel two-propeller intelligent underwater robot of claim 1, characterized in that: and the center of the robot framework (1) is provided with a mounting through hole corresponding to the directional propeller (4).
4. The novel two-propeller intelligent underwater robot of claim 1, characterized in that: the front sealed cabin (2) is a battery sealed cabin.
5. The novel two-propeller intelligent underwater robot of claim 1, characterized in that: the rear sealed cabin (3) is a control module sealed cabin.
6. The novel two-propeller intelligent underwater robot of claim 1, characterized in that: the duct (401) is fixed in the center of the robot framework (1).
7. The novel two-propeller intelligent underwater robot of claim 1, characterized in that: and a connecting frame (504) between the first underwater steering engine (501) and the second underwater steering engine (502) is a vertical swinging structure frame.
8. The novel two-propeller intelligent underwater robot of claim 1, characterized in that: and a connecting frame (504) between the second underwater steering engine (502) and the connecting shaft (503) is a horizontal swinging structural frame.
9. The novel two-propeller intelligent underwater robot of claim 1, characterized in that: the main propeller (505) is composed of a driving motor and a spiral propulsion module.
10. The novel two-propeller intelligent underwater robot of claim 9, characterized in that: and a protective cover is arranged outside the spiral propulsion module of the main propeller (505).
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| CN202110789240.4A CN113371161A (en) | 2021-07-19 | 2021-07-19 | Novel two propeller intelligence underwater robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113879494A (en) * | 2021-10-26 | 2022-01-04 | 蓓伟机器人科技(上海)有限公司 | Intelligent underwater robot and motion control method thereof |
| CN113932088A (en) * | 2021-10-22 | 2022-01-14 | 武汉中仪物联技术股份有限公司 | Submersible pipeline robot |
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