CN209567063U - A small cable remote-controlled underwater robot - Google Patents

Abstract

The utility model provides a small cable remote-controlled underwater robot, which comprises a body, a ground station, an operating handle and an umbilical cable. The shape of the body is rectangular, flat and streamlined, and four cylindrical transparent airtight cabins are arranged inside. The middle part of the body is provided with a through hole, and a vertical thruster is installed in the through hole. At the tail of the main body, a nozzle and a shroud are added on the left and right sides of the axis of symmetry, and two horizontal propellers are respectively installed in the shroud. The bow of the main body is designed with a self-cleaning device, which is driven by the steering gear. The underwater robot control system adopts a modular design idea and can be divided into a remote communication system, a motion control system, a video acquisition system, and an auxiliary lighting system. The underwater robot provided by the utility model has small size, strong anti-interference ability, strong maneuverability, stable navigation, can realize fixed depth and fixed navigation control, collect underwater images in real time, and has a self-cleaning function, which can keep the camera field of view clean , to provide guarantee for the effective implementation of underwater observation tasks.

Description

A small cable remote-controlled underwater robot

technical field

The utility model relates to a small cable remote-controlled underwater robot, which belongs to the field of underwater robots.

Background technique

my country's surface water area is 142,300 square kilometers, with vast rivers, lakes and coastlines. These waters are shallow, turbid, turbulent, and the underwater space is narrow and complex. At present, most underwater robots are designed to adapt to deep-sea operations. They are large in size and expensive, and are not suitable for operations in shallow waters such as rivers and lakes. The size of small underwater robots is generally between 0.4 and 1.6m, and it can operate in narrow, polluted, and dangerous shallow water environments. Sex detection. Therefore, the miniaturization of underwater robots is one of its development directions. Small underwater robots can be divided into: small remote-controlled underwater robots with cables and small autonomous underwater robots without cables. At present, there are still some key technical problems unsolved for small-scale untethered autonomous underwater robots, such as how to effectively ensure that they are not lost when they are invisible. Performance, can realize the long-distance transmission of the signal has more practical application value.

With the development of the miniaturization of underwater robots, the ability of underwater robots to resist external interference is also reduced, which brings difficulties to the control of underwater robots. At present, there are few studies on the stability of small cable remote-controlled underwater vehicles, and there is still a lot of room for improvement in this area. Moreover, the working environment of the small cable remote-controlled underwater robot is complex, and weeds or sediment are easy to stick within the field of view of the camera, which not only affects the observation of the underwater situation, but also brings inconvenience to the operation of the underwater robot. Therefore, It is necessary to design the self-cleaning device.

Contents of the invention

Aiming at the deficiencies of the above-mentioned prior art, the utility model provides a simple structure, strong anti-interference ability, strong maneuverability, stable navigation, can realize fixed depth, fixed navigation control, real-time acquisition of underwater images, and has a self-cleaning function A small cable remote-controlled underwater robot.

In order to achieve the above object, the technical scheme of the utility model is as follows:

A small cable remote-controlled underwater robot is characterized in that it includes a main body, a ground station and an umbilical cable; the main body is formed by splicing an upper shell and a lower shell, and four cylindrical transparent airtight cabins are arranged inside , which are the sensor compartment, the main control compartment, the first battery compartment, and the second battery compartment, and the overall shape is rectangular, flat and streamlined; a through hole is provided in the middle of the body, and a vertical propeller is installed in the through hole; The central axis is the symmetrical axis, and the design of the nozzle and the nozzle is added on the left and right sides, and two horizontal propellers are respectively installed in the nozzle; the ground station includes a computer and an operating handle; the umbilical cable adopts zero buoyancy Wire and power carrier communications are used for signal transmission.

Further, the sealed cabin is made of acrylic material, and the two ends of the cabin are sealed by flanges and O-rings;

The flange is provided with a plurality of watertight inserts, which are used to connect the equipment inside and outside the cabin through watertight wires.

Further, a steering gear, a power modem module, an Ethernet module, a pair of LED lights, and a camera are installed in the sensor cabin.

Further, the main control cabin is installed with a main controller, a co-processor and a two-way electric regulation.

Further, lithium batteries are installed in the first battery compartment and the second battery compartment to provide energy for all electrical equipment of the underwater robot.

Further, the propeller adopts a scheme in which the propeller is driven by a bidirectional brushless DC motor, wherein the vertical propeller is installed with a positive propeller, one of the two horizontal propellers is installed with a positive propeller, and the other is installed with a reverse propeller. The design of the propeller, when the propeller generates thrust in the same direction, the propeller rotates in the opposite direction, so as to reduce or offset the rolling moment generated by the propeller during the rotation, so that it is difficult for the small cable remote-controlled underwater robot to generate Rollover; the motor of the propeller is connected to the two-way ESC in the main control cabin through the watertight wire and the watertight connector on the flange, and the ESC is respectively connected to the battery compartment through the watertight wire and the watertight connector on the flange The battery inside and the main controller in the main control cabin are used to control the motor and drive the propeller.

Further, the guide tube is designed at the fence-like water inlet, and the fence part can prevent aquatic plants from entering the propeller. At the same time, the design of the internal guide tube can not only save energy, but also increase the inflow speed of the propeller, and solve the problem of propeller inflow. The problem of insufficient water makes the water pressure on the disk surface more uniform, and adds a shroud design behind the propeller. The main purpose of the shroud is to increase the jet velocity, thereby improving the propulsion efficiency.

Further, the bow of the body is designed with a self-cleaning device, which is composed of a cleaning brush, a connecting rod, and a steering gear in the sensor cabin; the output shaft of the steering gear is connected to the connecting rod through the sensor cabin, and the connecting rod The other end is connected with the cleaning brush, and the connecting rod is driven by the steering gear to realize the cleaning brush swinging up and down, thereby cleaning the field of view of the camera.

Further, the described small cable remote-controlled underwater robot is characterized in that it includes a remote communication system, a motion control system, a video acquisition system, and an auxiliary lighting system; the remote communication system consists of a pair of Ethernet modules, Composed of a pair of power modem modules, a computer, and a coprocessor, it adopts a power carrier communication method to receive commands sent by the ground station on the computer side, and upload the data collected by each sensor to the ground station on the computer side; the motion control The system consists of two-way ESCs that are connected to the battery in the battery compartment, the main controller and the motor of the thruster to drive the propeller through watertight wires and watertight connectors on the flange. During this process, the main controller transfers various sensor data Fusion is used as the input of the control algorithm, and the output of the algorithm drives the propeller to maintain the smooth operation of the underwater robot; the video acquisition system is composed of a camera and a co-processor, used to realize underwater image acquisition, and is used to control the underwater robot by the operating handle. Provide intuitive image information;

The auxiliary lighting system is composed of a main controller and a pair of LED lights, and the brightness of the lighting can be manually adjusted through the operating handle by software settings to optimize the shooting effect.

List of beneficial effects:

Combining the flat shape with the streamlined shape, the design of the diversion tube and the shroud is added on the premise of ensuring the beautiful shape. The guide tube is designed at the fence-like water inlet. The fence part can prevent aquatic plants and debris from entering the propeller. At the same time, the internal guide tube design can not only save energy but also increase the speed of the propeller inlet flow, which solves the problem of insufficient water intake to the propeller. Make the water pressure on the plate more even. A shroud design is added behind the propeller. The main purpose of the shroud is to increase the speed of the jet, thereby improving the propulsion efficiency of the propeller. Its overall structural design has beautiful appearance and low navigation resistance. The buoyancy of the underwater robot is mainly concentrated in the middle of the shell, which increases the height of the metacenter, makes the metacenter slightly higher than the center of gravity, and improves the stability of the underwater robot.

A self-cleaning device is designed on the bow of the small cable remote-controlled underwater robot. When the underwater robot is navigating underwater, debris such as sediment sticks to the camera field of view. The cleaning device can be driven by the steering gear, and the cleaning brush can swing up and down. Keep the camera field of view clean and provide guarantee for the effective implementation of underwater observation tasks.

Small cable remote-controlled underwater robots are mainly used for underwater shooting, so they need to be supported in terms of stability. The depth and navigation control of a small cable remote-controlled underwater robot can not only reduce the difficulty of manual operation, but also ensure that it can suppress interference to the greatest extent when it is disturbed by the outside world.

Description of drawings

Fig. 1 is the system structural diagram of a kind of small-sized cable remote control type underwater robot of the present utility model;

Fig. 2 is a kind of internal structural diagram of the body of a small-sized cable remote-controlled underwater robot of the present utility model;

Fig. 3 is a schematic diagram of a small-sized cable remote-controlled underwater robot cleaning device of the present invention;

Fig. 4 is a schematic diagram of the utility model power carrier communication;

Fig. 5 is the control structural diagram of the motion control system of the present utility model;

Fig. 6 is a schematic diagram of the PSO-PID process in the utility model;

Label description:

1. Main body; 2. Ground station; 3. Umbilical cable; 4. Operating handle; 5. Sensor compartment; 6. Main control compartment; 7. Battery compartment one; 8. Battery compartment two; 9. Vertical thruster; 10. 11, shroud; 12, horizontal thruster; 13, steering gear; 14, connecting rod; 15, cleaning brush; 16, camera; 17, auxiliary lighting LED.

Detailed ways

Provide the embodiment of the utility model below, and in conjunction with accompanying drawing, the utility model is further described.

As shown in Figure 1, the utility model provides a small cable remote-controlled underwater robot, including a body, a ground station and an umbilical cable.

As shown in Figure 2, the body is spliced by an upper shell and a lower shell. The overall shape is rectangular, flat, and streamlined. The size of the space reduces the resistance of the underwater robot when it is navigating; there are four cylindrical transparent airtight cabins inside the body, which are the sensor cabin, the main control cabin, the first battery cabin, and the second battery cabin; There is a through hole in the middle of the body, and a vertical propeller is installed in the through hole; the tail of the body and the design of the diversion tube and the shroud are added on the left and right sides of the axis of symmetry, and two are respectively installed in the shroud. The horizontal thruster; the ground station includes a computer and an operating handle; the umbilical cable adopts zero-buoyancy line and power carrier communication for signal transmission.

The sealed cabin is made of acrylic material, and the two ends of the cabin are sealed by flanges and O-rings; the flange is provided with a plurality of watertight plug-ins, which are used to connect internal and external equipment in the cabin through watertight wires.

The sensor cabin is equipped with a steering gear, a power modem module, an Ethernet module, a pair of LED lights, and a camera.

A main controller, a coprocessor and a two-way electric regulation are installed in the main control cabin. The main controller adopts flight control, and the coprocessor adopts Raspberry Pi.

The flight control is responsible for the motion control of the underwater robot. It has onboard gyroscopes, accelerometers, and compass for sensing the state of the equipment, and performs IIC communication with the depth sensor through watertight wires and watertight connectors on the flange. To collect depth information, and through the watertight wire and the watertight connector on the flange to connect with the auxiliary lighting LED to realize the control of the light; the raspberry pie is a coprocessor that mainly completes two tasks: one is to process and transmit Video, the second is to communicate with the ground station through the zero buoyancy line, the watertight wire and the watertight connector on the flange are connected to the camera in the sensor cabin to realize video collection, and communicate with the flight control through the USB interface.

Lithium batteries are installed in the first battery compartment and the second battery compartment to provide energy for all electrical equipment of the underwater robot.

The propeller adopts the scheme of bidirectional brushless DC motor to drive the propeller, wherein the vertical propeller is installed with a positive propeller, one of the two horizontal propellers is installed with a positive propeller, and the other is installed with a reverse propeller. This kind of positive and negative blade design According to the scheme, when the propeller generates thrust in the same direction, the propeller rotates in the opposite direction, so as to reduce or offset the rolling moment generated by the propeller during the rotation, so that the underwater robot is not prone to rollover; the propeller The motor is connected to the two-way ESC in the main control compartment through the watertight wire and the watertight connector on the flange, and the ESC is connected to the battery in the battery compartment and the main control compartment through the watertight wire and the watertight connector on the flange. The main controller is used to realize the control of the motor and drive the propeller.

The guide tube is designed at the fence-like water inlet, and the fence part can prevent aquatic plants from entering the propeller. At the same time, the design of the internal guide tube can not only save energy, but also increase the inflow speed of the propeller, which solves the problem of insufficient water intake to the propeller. The problem is to make the water pressure on the disk surface more uniform, and add a shroud design behind the propeller. The main purpose of the shroud is to increase the jet velocity, thereby improving the propulsion efficiency.

As shown in Figure 3, the bow of the body is designed with a self-cleaning device, which is composed of a cleaning brush, a connecting rod, and a steering gear in the sensor cabin; the output shaft of the steering gear is connected to the connecting rod through the sensor cabin, The other end of the connecting rod is connected with the cleaning brush, and the connecting rod is driven by the steering gear to realize the cleaning rod swinging up and down, thereby cleaning the field of view of the camera.

As shown in Figure 4, in this embodiment, the power carrier communication is to output the data and signals to be sent to the power cat modem after processing through the network port of the raspberry pie, and then the modem transmits the data to be sent through the OFDM carrier frequency technology The data is modulated onto the carrier signal, and the carrier signal is coupled to the zero-buoyancy line through the coupling circuit for transmission. Finally, the receiving end completes the data demodulation process through the process completely opposite to that of the sending end, and passes the demodulated data through The network interface is sent to the ground station of the computer; in the same way, the reverse transmission of the signal is to transmit the control signal input by the operating handle to the flight controller to control the propeller.

As shown in Fig. 5 and Fig. 6, the two-way ESC is respectively connected to the battery in the battery compartment, the motor of the flight control and the propeller through the watertight wire and the watertight connector on the flange to drive the propeller to run. In the process, The flight control calculates the attitude information of the underwater robot based on the data collected by the depth sensor, onboard gyroscope, accelerometer, and compass, and transmits it to the two-way ESC, and uses the control algorithm based on PSO-PID to realize the automatic control of the underwater robot Balance control, wherein the self-balance control includes depth self-balance and attitude self-balance of the underwater robot.

The PSO-PID control algorithm implementation method is to use the PSO algorithm to optimize and adjust the three parameters of the PID controller, KP, KI, and KD. That is, the dimension of the PSO algorithm is set to 3, and the decomposition of the position information of each particle in these 3 dimensions corresponds to a set of PID parameter values. The control algorithm updates the optimal value of the population through continuous iteration, and then assigns the value to the PID parameter, and then the PID controller controls the underwater robot to obtain feedback output, such as: depth information, attitude information, and will output depth information, attitude information Make a difference with the target depth and target attitude and feed back to the system as an input to form a closed-loop control. The algorithm iterates until it reaches the maximum iteration coefficient or the set threshold, so as to realize the motion stability control of the underwater robot.

Claims (9)

1. A small cable remote-controlled underwater robot is characterized in that it includes a body, a ground station, an operating handle and an umbilical cable; Shaped transparent airtight compartments, which are the sensor compartment, the main control compartment, the first battery compartment and the second battery compartment, and the overall shape is rectangular, flat and streamlined; a through hole is provided in the middle of the body, and a vertical propeller is installed in the through hole; The tail of the body and the left and right sides of the axis of symmetry are provided with a diversion pipe and a diversion cover, and two horizontal propellers are respectively installed in the diversion cover; the ground station includes a computer and an operating handle; the umbilical cable The zero-buoyancy line and power carrier communication are used for signal transmission. 2. A kind of small-sized cable remote-controlled underwater robot according to claim 1, characterized in that, the sealed cabin is made of acrylic material, and the two ends of the cabin are sealed by flanges and O-rings; The flange is provided with a plurality of watertight inserts, which are used to connect the equipment inside and outside the cabin through watertight wires. 3. A small cable remote-controlled underwater robot according to claim 1, wherein a main controller, a coprocessor and a two-way electric regulator are installed in the main control cabin. 4. a kind of small-sized cable remote-controlled underwater robot according to claim 1, is characterized in that, steering gear is installed in the described sensor cabin, electric modem module, ethernet module, a pair of LED lights and camera, and attitude sensor, and a depth sensor is installed on the outer surface of the flange of the sensor cabin. 5. A kind of small-sized remote-controlled underwater robot with cables according to claim 1, characterized in that lithium batteries are installed in said battery compartment one and battery compartment two to provide energy for all electrical equipment of the underwater robot. 6. A kind of small-sized cable remote-controlled underwater robot according to claim 1, characterized in that, the propeller adopts the scheme of bidirectional brushless DC motor-driven propeller, wherein the vertical propeller is installed with a positive propeller, two One of the horizontal propellers is installed with a forward propeller, and the other is installed with a reverse propeller; the motor of the propeller is connected to the two-way ESC in the main control cabin through a watertight wire and a watertight connector on the flange, and the ESC is connected through a watertight The wires and the watertight connectors on the flange are respectively connected to the battery in the battery compartment and the main controller in the main control compartment to realize the control of the motor and drive the propeller. 7. A kind of small-sized cable remote-controlled underwater robot according to claim 1, characterized in that, the guide pipe is designed at the fence-like water inlet, and the fence position can prevent aquatic plants and sundries from entering the propeller; The shroud is designed to connect with the draft tube. 8. A kind of small-sized cable remote-controlled underwater robot according to claim 1, characterized in that, the bow of the body is designed with a self-cleaning device, the cleaning brush, connecting rod, steering gear in the sensor cabin Composition; the output shaft of the steering gear is connected to the connecting rod through the sensor compartment, and the other end of the connecting rod is connected to the cleaning brush, and the connecting rod is driven by the steering gear to realize the cleaning rod swinging up and down, thereby cleaning the field of view of the camera. 9. A kind of small-sized cable remote-controlled underwater robot according to claim 1, it is characterized in that: comprise long-distance communication system, motion control system, video acquisition system, auxiliary lighting system; Said long-distance communication system consists of a pair of Ethernet The network module, a pair of power modem modules, a computer and a coprocessor are composed of a power carrier communication method, used to receive commands sent by the ground station on the computer side, and upload the data collected by the sensor to the ground station on the computer side; The motion control system consists of two-way ESCs that are respectively connected to the battery in the battery compartment, the main controller and the motor of the thruster through watertight wires and watertight connectors on the flange to drive the propeller. During this process, the main controller sends sensor data to Fusion is used as the input of the control algorithm, and the output of the algorithm drives the propeller to maintain the smooth operation of the underwater robot; the video acquisition system is composed of a camera and a co-processor, used to realize underwater image acquisition, and is used to control the underwater robot by the operating handle. Provide intuitive image information; the auxiliary lighting system is composed of a main controller and a pair of LED lights, and the lighting brightness can be manually adjusted by the software setting through the operating handle to optimize the shooting effect.