CN118254941A - High-mobility miniature autonomous underwater robot - Google Patents

Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to a miniature autonomous underwater robot with high maneuverability. The device comprises a bow section, a front control cabin section, a battery cabin section, a control cabin section, a communication cabin section, a rear control cabin section, a steering cabin section and a propeller which are connected in sequence, wherein the front control cabin section and the rear control cabin section are respectively provided with a vertical channel propeller and two lateral channel propellers, so that underwater hovering, horizontal or vertical translational movement can be realized; four steering plates which are arranged in a cross shape are arranged on the outer side of the steering cabin section, and the operation of the underwater robot is realized in an underwater forward navigation state. The invention has the advantages of small structure, light weight and low cost, and can be folded, unfolded and operated by a single person; as the two pose control means of the cross rudder and the channel propeller are provided, various underwater high-mobility sailing capabilities including zero-speed hovering, vertical and lateral translational movement, underwater high-speed sailing and the like can be realized.

Description

A highly maneuverable micro autonomous underwater robot

Technical Field

The invention belongs to the technical field of underwater robots, and in particular relates to a highly maneuverable micro autonomous underwater robot.

Background technique

With the advancement of autonomous underwater vehicles (AUV) technology, its application fields are constantly expanding, and higher requirements are put forward for the ease of use, autonomous navigation and maneuverability of AUVs. Micro autonomous underwater robots can be used in many fields such as marine scientific research, national defense security, lake scientific research, river survey, cluster formation, teaching and scientific research, etc., with outstanding advantages such as low price, simple operation and easy expansion. Most of the existing design schemes of micro underwater robots adopt the same scheme and structure as the existing medium and large underwater robots, adopt the under-actuated control technology scheme, and can only have attitude control and navigation control functions in the underwater forward navigation state. It is rare to achieve high maneuverability such as vertical movement or horizontal movement or even rotation in place under zero forward speed conditions, so its application is limited.

Summary of the invention

In view of the above problems, the purpose of the present invention is to provide a highly maneuverable micro autonomous underwater robot, which adopts a redundant drive control technology solution and has the advantages of high underwater control capability and modular scalability.

In order to achieve the above object, the present invention adopts the following technical solutions:

The present invention provides a highly maneuverable micro autonomous underwater robot, comprising a bow section, a front control cabin section, a battery cabin section, a control cabin section, a communication cabin section, a rear control cabin section, a steering cabin section and a propeller thruster connected in sequence, wherein:

The front and rear control cabins are each equipped with a vertical slot thruster and two lateral slot thrusters, which can achieve underwater hovering, lateral or vertical translation movement;

There are four rudders arranged in a cross shape on the outside of the steering compartment to enable the underwater robot to be manipulated when it is sailing forward underwater.

The front control compartment section and the rear control compartment section are also provided with motor controllers, which are used to control the operation of the vertical slot thruster and the two lateral slot thrusters. The propeller thruster is controlled by the motor controller in the rear control compartment section.

A sensor load is arranged inside the bow section, and the sensor load is used to perform underwater operation tasks.

The lateral slot thrusters of the front control compartment section and the rear control compartment section are non-penetrating slot thrusters.

A steering gear module is disposed inside the steering compartment section, and the steering gear module drives the four steering plates to rotate, thereby realizing the posture control function of the underwater robot in the underwater forward navigation state.

A depth gauge is provided at the lower part of the rear control cabin section, an umbilical cable hole cover is provided at the side, and an umbilical cable connector is provided in the umbilical cable hole cover.

A battery pack is arranged inside the battery compartment, and the battery pack is used to provide energy to the underwater robot.

The control compartment is provided with a main control system and an inertial navigation system, which are used to realize the navigation control and underwater navigation functions of the underwater robot respectively.

The communication compartment is provided with a radio antenna, a satellite positioning antenna, a folding mechanism, a radio module, a satellite positioning module and a WI F I module, wherein the folding mechanism is used to realize the raising and folding functions of the radio antenna and the satellite positioning antenna, and can raise the radio antenna and the satellite positioning antenna in the surface navigation state to realize wireless communication and satellite positioning functions; and fold the radio antenna and the satellite positioning antenna in the underwater navigation state to reduce the navigation resistance of the underwater robot.

The highly maneuverable micro autonomous underwater robot has a torpedo-shaped rotating body and adopts a pressure-resistant structure.

The advantages and beneficial effects of the present invention are as follows: the present invention provides a highly maneuverable micro-autonomous underwater robot with a compact structure, light weight, low cost, and capable of being deployed and retracted by one person and operated; since the antenna can be folded down during underwater navigation, the navigation efficiency of the underwater robot can be improved; since it has two posture control means, namely a cross rudder and a slot thruster, it can achieve various types of underwater high-maneuverability navigation capabilities including zero-speed hovering, vertical and horizontal movement, and underwater high-speed navigation; and it has the advantages of modularity and easy expansion in terms of hardware and structure.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is an axonometric view of a highly maneuverable micro autonomous underwater robot in a state of navigating on the water surface according to the present invention;

FIG2 is a side view of a highly maneuverable micro autonomous underwater robot in a state of navigating on the water surface according to the present invention;

FIG3 is an axonometric view of a highly maneuverable micro autonomous underwater robot in an underwater navigation state according to the present invention;

FIG4 is a side view of a highly maneuverable micro autonomous underwater robot in an underwater navigation state according to the present invention;

FIG5 is a top view of a highly maneuverable micro autonomous underwater robot in an underwater navigation state according to the present invention;

FIG6 is a cross-sectional side view of a highly maneuverable micro autonomous underwater robot in an underwater navigation state according to the present invention;

FIG7 is a cross-sectional top view of a highly maneuverable micro autonomous underwater robot in an underwater navigation state according to the present invention.

In the figure: 1 is the bow section, 2 is the front control cabin section, 3 is the battery cabin section, 4 is the control cabin section, 5 is the communication cabin section, 6 is the rear control cabin section, 7 is the steering cabin section, 8 is the propeller thruster, 9 is the clamp, 10 is the sensor load, 11 is the front lateral slot thruster, 12 is the front vertical slot thruster, 13 is the front motor controller, 14 is the battery pack, 15 is the main control system, 16 is the navigation system, 17 is the radio antenna, 18 is the satellite positioning antenna, 19 is the folding mechanism, 20 is the radio module, 21 is the satellite positioning module, 22 is the WI F I module, 23 is the depth gauge, 24 is the umbilical cable hole cover, 25 is the umbilical cable connector, 26 is the steering gear module, 27 is the rudder plate, 28 is the rear lateral slot thruster, 29 is the rear vertical slot thruster, and 30 is the rear motor controller.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1 to 7, the present invention provides a highly maneuverable micro autonomous underwater robot, including a bow section 1, a front control cabin section 2, a battery cabin section 3, a control cabin section 4, a communication cabin section 5, a rear control cabin section 6, a steering cabin section 7 and a propeller thruster 8, which are sequentially connected and fixed by a clamp, wherein the front control cabin section 2 and the rear control cabin section 6 are each provided with a vertical slot thruster and two lateral slot thrusters, which can realize underwater hovering, horizontal or vertical translation movement; four rudder plates 27 arranged in a cross shape are provided on the outer side of the steering cabin section 7, so as to realize the manipulation of the underwater robot in the underwater forward navigation state.

In an embodiment of the present invention, a motor controller is also provided in the front control compartment section 2 and the rear control compartment section 6, and the motor controller is used to control the operation of the vertical slot thruster and the two lateral slot thrusters. The propeller thruster 8 is controlled by the motor controller in the rear control compartment section 6.

Specifically, as shown in Figures 6 and 7, a front lateral slot thruster 11, a front vertical slot thruster 12 and a front motor controller 13 are provided in the front control compartment section 2, wherein there are two front lateral slot thrusters 11, which are respectively arranged on both sides of the underwater robot, and the front lateral slot thruster 11 adopts a non-through slot thruster, which can realize the propulsion function in the horizontal direction; a front vertical slot thruster 12 is provided in the middle part, which can realize the downward or upward vertical propulsion function by rotating clockwise or counterclockwise; the front motor controller 13 controls the operation of the front vertical slot thruster 12 and the two front lateral slot thrusters 11.

The rear control compartment 6 is provided with a rear lateral channel thruster 28, a rear vertical channel thruster 29 and a rear motor controller 30, wherein there are two rear lateral channel thrusters 28, which are respectively arranged on both sides of the underwater robot. The rear lateral channel thruster 28 adopts a non-penetrating channel thruster, which can realize the lateral thrust function in the horizontal direction; the middle part is provided with a rear vertical channel thruster 29, which can realize the vertical thrust function downward or upward by rotating clockwise or counterclockwise; the rear motor controller 30 controls the operation of the rear vertical channel thruster 29 and the two rear lateral channel thrusters 28, and the propeller thruster 8 is controlled by the rear motor controller 30, and the propeller thruster 8 can realize the forward or backward movement of the underwater robot by rotating counterclockwise or clockwise. The lower part of the rear control compartment 6 is provided with a depth gauge 23, and the side is provided with an umbilical cable hole cover 24, and the umbilical cable hole cover 24 is provided with an umbilical cable connector 25.

As shown in FIG6 , in an embodiment of the present invention, a sensor load 10 is provided inside the bow section 1, and the sensor load 10 is used to perform underwater operation tasks. If the function needs to be expanded, the bow section 1 or the corresponding sensor load 10 installed in the bow section can be replaced according to the mission to be performed. A battery pack 14 is provided inside the battery compartment section 3, and the battery pack 14 is used to provide energy for the underwater robot. A main control system 15 and an inertial navigation system 16 are provided inside the control compartment section 4, and the main control system 15 and the inertial navigation system 16 are used to realize the navigation control and underwater navigation functions of the underwater robot respectively.

As shown in FIG6 , in an embodiment of the present invention, the communication compartment 5 is provided with a radio antenna 17, a satellite positioning antenna 18, a folding mechanism 19, a radio module 20, a satellite positioning module 21 and a WIFI module 22, wherein the folding mechanism 19 is used to realize the raising and folding functions of the radio antenna 17 and the satellite positioning antenna 18, and can raise the radio antenna 17 and the satellite positioning antenna 18 in the surface navigation state to realize the wireless communication and satellite positioning functions; and fold the radio antenna 17 and the satellite positioning antenna 18 in the underwater navigation state to reduce the navigation resistance of the underwater robot and improve the navigation efficiency. Specifically, the folding mechanism 19 realizes the folding function by using a crank connecting rod mechanism in cooperation with a driving source, and can also use any mechanism in the prior art to realize the folding function, which is not limited here.

As shown in Figures 6 and 7, in the embodiment of the present invention, a steering gear module 26 is provided inside the steering compartment section 7. The steering gear module 26 drives the four rudder plates 27 to rotate, thereby realizing the posture control function of the underwater robot in the underwater forward navigation state and improving the navigation control efficiency.

In the embodiment of the present invention, the high-mobility micro autonomous underwater robot has a torpedo-shaped rotating body shape, a diameter of 76.2 mm, and a pressure-resistant structure. The overall weight is about 2-4 kg according to the load. Compared with the traditional underwater robot, the present invention is light in weight and can be deployed and operated by one person.

The present invention provides a highly maneuverable micro autonomous underwater robot, whose working principle is as follows: a communication compartment 5 is provided with a folding mechanism 19, which can realize the raising and folding functions of a radio antenna 17 and a satellite positioning antenna 18. The radio antenna 17 and the satellite positioning antenna 18 can be raised in the surface navigation state to realize wireless communication and satellite positioning functions; the radio antenna 17 and the satellite positioning antenna 18 can be folded in the underwater navigation state to reduce the navigation resistance of the underwater robot.

The present invention adopts a redundant control scheme, and lateral slot thrusters and vertical slot thrusters are provided in the front control cabin section 2 and the rear control cabin section 6, which can realize underwater hovering, lateral or vertical translation movement. The steering cabin section 7 is provided with a cross-shaped rudder plate 27, which can realize the underwater robot control in the underwater forward navigation state. Due to the two posture control means of the cross rudder and the slot thruster, the underwater robot can realize various types of underwater high-maneuverability navigation capabilities including zero-speed hovering, vertical and lateral translation movement, underwater high-speed navigation, etc.

If the function of the high-maneuverability micro-autonomous underwater robot needs to be expanded, the bow section 1 or the corresponding sensor load 10 installed in the bow section 1 can be replaced according to the mission to be performed. All compartments of the high-maneuverability micro-autonomous underwater robot adopt a unified structural interface and a standardized electrical interface, and are modular and easy to expand. The present invention has a compact structure, light weight, and low cost, and can be retracted and operated by one person; because the antenna can be folded down in the underwater navigation state, the navigation efficiency of the underwater robot can be improved; because it has two posture control means, namely a cross rudder and a slot thruster, it can realize various types of underwater high-maneuverability navigation capabilities including zero-speed hovering, vertical and lateral translation, and underwater high-speed navigation; it has the advantages of modularity and easy expansion in terms of hardware and structure.

The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. A highly maneuverable micro autonomous underwater robot, characterized in that it comprises a bow section (1), a front control cabin section (2), a battery cabin section (3), a control cabin section (4), a communication cabin section (5), a rear control cabin section (6), a steering cabin section (7) and a propeller thruster (8) connected in sequence, wherein: The front control cabin section (2) and the rear control cabin section (6) are each provided with a vertical channel thruster and two lateral channel thrusters, which can realize underwater hovering, lateral or vertical translation movement; Four rudder plates (27) arranged in a cross shape are provided on the outer side of the steering compartment section (7) to realize the manipulation of the underwater robot in the underwater forward navigation state. 2. The high-maneuverability micro-autonomous underwater robot according to claim 1 is characterized in that a motor controller is also provided in the front control compartment (2) and the rear control compartment (6), and the motor controller is used to control the operation of the vertical slot thruster and the two lateral slot thrusters, and the propeller thruster (8) is controlled by the motor controller in the rear control compartment (6). 3. The high-maneuverability micro autonomous underwater robot according to claim 1 is characterized in that a sensor payload (10) is provided inside the bow section (1), and the sensor payload (10) is used to perform underwater operation tasks. 4. The high-maneuverability micro-autonomous underwater robot according to claim 1 is characterized in that the lateral channel thrusters of the front control compartment (2) and the rear control compartment (6) are non-penetrating channel thrusters. 5. The highly maneuverable micro autonomous underwater robot according to claim 1 is characterized in that a steering gear module (26) is provided inside the steering compartment section (7), and the steering gear module (26) drives the four rudder plates (27) to rotate, thereby realizing the posture control function of the underwater robot in the underwater forward navigation state. 6. The high-mobility micro autonomous underwater robot according to claim 1 is characterized in that a depth gauge (23) is provided at the lower part of the rear control compartment section (6), an umbilical cable hole cover (24) is provided on the side, and an umbilical cable connector (25) is provided inside the umbilical cable hole cover (24). 7. The high-maneuverability micro autonomous underwater robot according to claim 1 is characterized in that a battery pack (14) is provided inside the battery compartment (3), and the battery pack (14) is used to provide energy to the underwater robot. 8. The high-maneuverability micro-autonomous underwater robot according to claim 1 is characterized in that a main control system (15) and an inertial navigation system (16) are provided inside the control compartment (4), and the main control system (15) and the inertial navigation system (16) are respectively used to realize the navigation control and underwater navigation functions of the underwater robot. 9. The high-mobility micro-autonomous underwater robot according to claim 1 is characterized in that the communication compartment (5) is provided with a radio antenna (17), a satellite positioning antenna (18), a folding mechanism (19), a radio module (20), a satellite positioning module (21) and a WIFI module (22), wherein the folding mechanism (19) is used to realize the raising and folding functions of the radio antenna (17) and the satellite positioning antenna (18), and can raise the radio antenna (17) and the satellite positioning antenna (18) in the surface navigation state to realize wireless communication and satellite positioning functions; and fold the radio antenna (17) and the satellite positioning antenna (18) in the underwater navigation state to reduce the navigation resistance of the underwater robot. 10. The high-mobility micro autonomous underwater robot according to claim 1 is characterized in that the high-mobility micro autonomous underwater robot has a torpedo-shaped rotating body as a whole and adopts a pressure-resistant structure as a whole.