CN204937441U - The water-bed sniffing robot of a kind of autonomous navigation - Google Patents

Abstract

The utility model discloses an autonomous navigation underwater detection robot, which comprises a hull, on which a surface robot composed of a power supply system, a main control system, a navigation system, a communication system, a sonar system and a propulsion system is arranged. The utility model provides an autonomous navigation underwater detection robot, which can automatically perform underwater detection and return detection data in real time. Strong battery life, a wide area of water that can be detected at one time, high efficiency, and easy to carry.

Description

An autonomous navigation underwater detection robot

technical field

The utility model relates to the technical field of underwater detection, in particular to an autonomous navigation underwater detection robot.

Background technique

At present, there are two main methods of underwater detection. One is to use ROV or AUV to carry the sonar system for scanning, and the other is to carry the sonar on the ship and manually scan the ship along the trajectory. These two methods have their disadvantages. ROV or AUV is too expensive to build, high maintenance cost, and requires professional operation. The workload of manually sailing the boat is heavy. If the area of the surveyed water area is large and the water surface environment is complicated, the workload of the operator will be heavy. At the same time, sailing the boat is also dangerous.

SUMMARY OF THE UTILITY MODEL The purpose of this utility model is to provide an autonomous navigation underwater detection robot to solve the problems existing in the prior art.

In order to achieve the above object, the technical solution adopted in the utility model is:

An autonomous navigation underwater detection robot is characterized in that: it includes a hull, and the hull is provided with a power supply system, a main control system, a navigation system, a communication system, a sonar system, and a propulsion system. The power supply system, the main control system, the navigation system, The communication system, sonar system, and propulsion system constitute the surface robot, of which:

Described main control system is made of single-chip microcomputer and peripheral circuit thereof;

The navigation system is composed of an electronic compass, an attitude sensor and a GPS positioning system arranged on the hull. In the navigation system, the electronic compass, the attitude sensor and the GPS positioning system are respectively connected to the single-chip microcomputer of the main control system to complete autonomous navigation and automatic tasks;

The communication system is composed of a wireless data transmission and image transmission station, which is connected to the single-chip microcomputer of the main control system, and the wireless data transmission and image transmission station sends various information of the surface robot to the ground base station in real time;

The sonar system is composed of a single-chip microcomputer, a modulation boost circuit, an underwater acoustic transducer, a filter, and a signal amplifier, and is the data acquisition core of the system. The single-chip microcomputer sends out a signal, and the signal is amplified into a 24V/125KHz electrical signal through the modulation boost circuit, and the electrical signal is converted into a sound signal through the underwater acoustic transducer. The sound is reflected by the bottom of the water or objects in the water to form an echo. The underwater acoustic transducer receives the echo signal and converts the echo into an electrical signal. The electrical signal is filtered and amplified to the microcontroller. The single-chip microcomputer can calculate the situation of the bottom of the water according to the electrical signal. Then the underwater signal is sent to the main control system through a certain protocol.

The power supply system supplies power to the main control system, navigation system, communication system, and sonar system.

The autonomous navigation underwater detection robot is characterized in that: the propulsion system is a dual-motor propulsion differential propulsion mode. There is an external waterproof grass device, which can work in places with dense aquatic plants.

The autonomous navigation underwater detection robot described above is characterized in that an ultrasonic obstacle avoidance sensor and a camera are installed on the upper front end of the hull.

The autonomous navigation underwater detection robot is characterized in that: the sonar system completes bottom terrain detection and fish detection, the sonar control system communicates directly with the main control system, and the collected bottom information includes bottom hardness, depth, The fish school size, fish school depth, water temperature, etc. are sent to the main control system.

The utility model provides an autonomous navigation underwater detection robot, which can automatically perform underwater detection and return detection data in real time. Strong battery life, a wide area of water that can be detected at one time, high efficiency, and easy to carry.

Compared with the prior art, the utility model has the beneficial effects of long usable range, light weight, simple operation, and simplifies the work flow and workload of workers. The underwater detection speed is fast, the data is stable and reliable, and the underwater topography and objects are displayed in real time.

Description of drawings

Fig. 1 is a side view structural diagram of the utility model.

Figure 2 is a schematic diagram of the sonar system.

detailed description

Referring to Fig. 1, an autonomous navigation underwater detection robot includes a hull 2, a power supply system 4, a main control system 1, a navigation system, a communication system 9, an ultrasonic system 7, and a propulsion system 10 are arranged on the hull 2. System 4, main control system 1, navigation system, communication system 9, sonar system 8, underwater acoustic transducer 3, and propulsion system constitute the surface robot, of which:

The main control system 1 is composed of a single-chip microcomputer and its peripheral circuits;

The navigation system is composed of an electronic compass, an attitude sensor, and a GPS positioning system 5 arranged on the hull 2. In the navigation system, the electronic compass, the attitude sensor, and the GPS positioning system 5 are respectively connected to the single-chip microcomputer of the main control system 1 to complete autonomous navigation and automatic tasks. ;

The communication system 9 is composed of a wireless data transmission and image transmission station, which is connected to the single-chip microcomputer of the main control system 1, and the wireless data transmission and image transmission station sends various information of the surface robot to the ground base station in real time;

The sonar system is composed of an underwater acoustic transducer 3 installed at the bottom of the hull 2 and a sound wave sending/receiving system 8. The sonar control system 8 is connected to the main control system 1; the underwater acoustic transducer is directly connected with the sonar control system, and the electrical signal It is converted into an acoustic signal, and the received echo signal is converted into an electrical signal and sent to the sonar control system.

The power supply system 4 supplies power to the main control system 1 , the navigation system, the communication system 9 , and the sonar main control system 8 .

The propulsion system is a propeller 10 propulsion structure and a weed-proof device 12 driven by external dual DC motors 11 .

The upper front end of the hull 2 is also equipped with an ultrasonic obstacle avoidance sensor 6 and a camera 7 .

The sonar system completes the underwater terrain detection and fish detection. The sonar control system communicates directly with the main control system 1, and sends the collected underwater information including bottom hardness, depth, fish size, fish depth, and water temperature to the main control system 1. .

In the utility model, the main control system 1 includes a single-chip microcomputer and peripheral circuits, and the navigation system includes an electronic compass, an attitude sensor and a GPS positioning system 5, and the attitude sensor is integrated on the main control system 1 . The main control system 1 is directly connected to the wireless digital image transmission station, and the data collected by the robot is sent to the ground base station for display and recording through the wireless digital image transmission station. The main control system 1 controls the sound wave sending/receiving system 8 according to the position information collected by the navigation system, so as to realize autonomous navigation and real-time underwater scanning. The two sets of propulsion systems used in this example include external double DC motors 11 and propellers 10. The two sets of propellers are installed externally, which is convenient for disassembly and installation, and the waterproof grass device 12 is installed on the outside, which can be used in places where aquatic plants are dense. normal work.

In this example, the robot is equipped with an ultrasonic sensor 6, through which obstacles in front and side can be found, which is directly connected to the main control system 1, through the main control system 1, autonomous obstacle avoidance is realized. A camera 7 is installed above the robot, which is directly connected with the wireless data transmission and image transmission station. The collected video data is sent to the ground base station through the wireless digital image transmission station. Operators can observe the water conditions within 180 degrees in front of the ship in real time.

The features of the utility model are as follows:

1. Equipped with a video monitoring system, operators can observe the water environment in real time. Equipped with an ultrasonic obstacle avoidance system, it can realize autonomous obstacle avoidance during autonomous navigation.

2. It has sampling methods such as manual mode, automatic mode and guidance mode. In manual mode, the hand-held remote control controls the robot to drive to a fixed point for scanning and detection. During this operation, it can be used with the camera to sample and monitor outside the line of sight. In the automatic mode, after the sampling task is set by the base station, the current position and direction of the ship are collected by the GPS positioning system, electronic compass, state sensor, etc., and the main control system controls the robot to navigate and scan according to the planned route according to the information. In the coaching mode, you can manually input the latitude and longitude of the detection position, and the robot will automatically navigate to the task point for detection and scanning.

3. It has a fail-safe mechanism. When the signal of the base station and the remote control are lost or the battery of the robot is insufficient, it will trigger the return behavior, that is, return to the starting point to prevent the robot from being lost.

The scan monitoring process is as follows:

1. When the robot reaches the target point or automatically drives according to the route, the single-chip microcomputer 13 in the sonar main control system emits a 125KHz electronic pulse signal.

2. After the electronic pulse is modulated and boosted by the booster module 14, it is converted into an acoustic signal by the underwater acoustic transducer 3 and transmitted to the water.

3. The sound wave is reflected to the underwater acoustic transducer 3 through the bottom of the water or objects in the water, and the underwater acoustic transducer 3 converts the sound wave signal into an electrical signal.

4. After the electrical signal is amplified by the signal amplification unit 16 and filtered by the filter 15, it is sent to the sonar control system 8. The sonar control system 8 receives the processed electrical signal, calculates the information of the bottom and the water, and sends the information It is sent back to the ground station through the wireless data transmission module, and the ground station displays the bottom and water information intuitively and in real time in the form of images based on the information.

Claims (4)

1. the water-bed sniffing robot of autonomous navigation, it is characterized in that: include hull, hull is provided with power-supply system, master control system, navigationsystem, communication system, Sonar system, propulsion system, water surface robot is formed by power-supply system, master control system, navigationsystem, communication system, Sonar system, propulsion system, wherein:

Described master control system is made up of micro controller system and peripheral circuit thereof;

Described navigationsystem is made up of the electronic compass be arranged on hull, attitude sensor and GPS position fixing system, and electronic compass in navigationsystem, attitude sensor, GPS position fixing system access the micro controller system of master control system respectively, complete autonomous navigation and autotask;

Described communication system is made up of the wireless data sending figure platform that conducts electricity, and wireless data sending figure conducts electricity the micro controller system of platform access master control system, and the various information of water surface robot are sent to ground base station by the wireless data sending figure platform that conducts electricity in real time;

Described Sonar system is made up of the underwater acoustic transducer and sonar master control unit being arranged on hull bottom, and sonar master control unit is directly connected with the master control system of ship; Sonar control system by micro controller system, modulation booster circuit, underwater acoustic transducer, filter, signal amplifier forms, and is the data acquisition core of native system.

Described power-supply system supplies power to master control system, navigationsystem, communication system, Sonar system.

2. the water-bed sniffing robot of a kind of autonomous navigation according to claim 1, is characterized in that: described propulsion system is the screw propeller push structure of the two DC motor Driver of external, and float grass preventing device is equipped with in outside.

3. the water-bed sniffing robot of a kind of autonomous navigation according to claim 1, is characterized in that: on described hull, front end is also provided with avoiding obstacles by supersonic wave sensor and camera.

4. the water-bed sniffing robot of a kind of autonomous navigation according to claim 1, it is characterized in that: described Sonar system completes the detection of water-bed landform and the locating fish, sonar control system and master control system Direct Communication, the water-bed information collected is comprised water-bed hardness, the degree of depth, and shoal of fish size, the shoal of fish degree of depth, water temperature send to master control system.