CN104960651A - Underwater exploring robot with function of autonomous navigation - Google Patents
Underwater exploring robot with function of autonomous navigation Download PDFInfo
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- CN104960651A CN104960651A CN201510424545.XA CN201510424545A CN104960651A CN 104960651 A CN104960651 A CN 104960651A CN 201510424545 A CN201510424545 A CN 201510424545A CN 104960651 A CN104960651 A CN 104960651A
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Abstract
The invention discloses an underwater exploring robot with a function of autonomous navigation. The underwater exploring robot comprises a ship body, wherein a water surface robot constituted by a power supply system, a main control system, a navigation system, a communication system, a sonar system and a propulsion system is arranged on the ship body. The underwater exploring robot with the function of the autonomous navigation provided by the invention can automatically perform underwater exploring and return real-time exploring data and is good in endurance property, wide water area can be explored at a time, and the underwater exploring robot is high in efficiency and convenient to carry.
Description
Technical field
The present invention relates to water-bed Detection Techniques field, specifically the water-bed sniffing robot of a kind of autonomous navigation.
Background technology
At present, main water-bed detection method has two kinds of modes, and one is use ROV or AUV to carry Sonar system to scan, and two is carry on ship by sonar, manually sails to scan along track.These two kinds of modes have its shortcoming, ROV or AUV cost is too high, and maintenance cost is high, needs professional to manipulate.Detection operations of manually sailing amount is large, if detection water surface area is large, aquatic environment is complicated, and the work capacity of operating personal can be very large, sails also have certain danger simultaneously.
summary of the inventionthe object of this invention is to provide the water-bed sniffing robot of a kind of autonomous navigation, to solve prior art Problems existing.
In order to achieve the above object, the technical solution adopted in the present invention is:
The water-bed sniffing robot of a kind 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 by micro controller system, modulation booster circuit, underwater acoustic transducer, filter, signal amplifier forms, and is the data acquisition core of native system.Micro controller system sends signal, by modulation booster circuit, signal is enlarged into the electric signal of 24V/125KHz, converts electrical signals to aud. snl. through underwater acoustic transducer.Sound reflects to form echo through water-bed or object in water, and underwater acoustic transducer receives echoed signal, and echo is converted to electric signal, electric signal after filtering, be amplified to micro controller system.Micro controller system can calculate water-bed situation according to electric signal.Then the signal at the bottom is sent to master control system through certain agreement.
Described power-supply system supplies power to master control system, navigationsystem, communication system, Sonar system.
The water-bed sniffing robot of described a kind of autonomous navigation, is characterized in that: described propulsion system is that double-motor advances differential propulsion mode.Be equipped with float grass preventing device outward, can at the intensive local work of pasture and water.
The water-bed sniffing robot of described a kind of autonomous navigation, is characterized in that: on described hull, front end is also provided with avoiding obstacles by supersonic wave sensor and camera.
The water-bed sniffing robot of described a kind of autonomous navigation, 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 etc. send to master control system.
The invention provides the water-bed sniffing robot of a kind of autonomous navigation, automatically can carry out bottom detection, return detection data in real time.Flying power is strong, and once detectable water surface area is wide, and efficiency is high, easy to carry.
Compared with prior art, the invention has the beneficial effects as follows that usable range is far away, lightweight, simple to operate, simplify workflow and workman's work capacity.Water-bed speed of detection is fast, and data stabilization is reliable, and shows water-bed landform, object in real time.
Accompanying drawing explanation
Fig. 1 is side-looking structural representation of the present invention.
Fig. 2 is Sonar system schematic diagram.
Detailed description of the invention
Shown in Figure 1, the water-bed sniffing robot of a kind of autonomous navigation, include hull 2, hull 2 is provided with power-supply system 4, master control system 1, navigationsystem, communication system 9, ultrasonic system 7, propulsion system 10, water surface robot is formed by power-supply system 4, master control system 1, navigationsystem, communication system 9, Sonar system 8, underwater acoustic transducer 3, propulsion system, wherein:
Master control system 1 is made up of micro controller system and peripheral circuit thereof;
Navigationsystem is made up of the electronic compass be arranged on hull 2, attitude sensor and GPS position fixing system 5, and in navigationsystem, electronic compass, attitude sensor, GPS position fixing system 5 access the micro controller system of master control system 1 respectively, complete autonomous navigation and autotask;
Communication system 9 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 1, 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;
Sonar system is made up of with sound wave transmitting/receiving system 8 underwater acoustic transducer 3 be arranged on bottom hull 2, and sonar control system 8 accesses master control system 1; Underwater acoustic transducer is directly connected with sonar control system, converts electrical signals to acoustical signal, and the echoed signal received is converted to electric signal passes to sonar control system.
Power-supply system 4 supplies power to master control system 1, navigationsystem, communication system 9, sonar master control system 8.
Propulsion system is screw propeller 10 push structure and the float grass preventing device 12 of two DC machine 11 driving of external.
On hull 2, front end is also provided with avoiding obstacles by supersonic wave sensor 6 and camera 7.
Sonar system completes the detection of water-bed landform and the locating fish, and sonar control system and master control system 1 Direct Communication, comprise water-bed hardness, the degree of depth by the water-bed information collected, and shoal of fish size, the shoal of fish degree of depth, water temperature etc. send to master control system 1.
In the present invention, master control system 1 comprises micro controller system and peripheral circuit, and navigationsystem comprises electronic compass, attitude sensor and GPS position fixing system 5, and its attitude sensor is integrated in above master control system 1.Master control system 1 and the wireless data sending figure platform that conducts electricity directly is connected, and is sent to display on ground base station is recorded by conduct electricity data that robot collects by platform of wireless data sending figure.The Data Control sound wave transmitting/receiving systems 8 such as the location information that master control system 1 collects according to navigationsystem, realize autonomous navigation and water-bed real time scan.The two cover propulsion systems used in this example comprise the two DC machine 11 of external hanging type and overlap propelling unit with screw propeller 10, two and adopt external mounting means, for convenience detach with installation, and outside is provided with float grass preventing device 12, normally can work in the place that pasture and water are intensive.
In this example, be provided with ultrasonic transduter 6 above described robot, can be found the obstacle of front and side by ultrasonic transduter 6, it is directly connected with master control system 1, by master control system 1, realizes automatic obstacle avoiding.Be provided with camera 7 above described robot, itself and the wireless data sending figure platform that conducts electricity directly is connected.By the wireless data sending figure platform that conducts electricity, the video data collected is sent to ground base station.Manipulation personnel can status of the water area within the scope of 180 degree, Real Time Observation ship front.
Feature of the present invention is as follows:
1, video monitoring system is housed, operating personal can Real Time Observation water environment.Ultrasonic evadible system is housed, can automatic obstacle avoiding be realized in autonomous navigation process.
2, there is manual mode and the sample mode such as automatic mode and instructional model.Drive to fixed point by hand-held remote controller control under manual mode carry out scanning and detect.Coordinating camera to use in this operating process can at the outer sampling monitoring of sighting distance.After setting sampling task by base station under automatic mode, collected the information such as current location, direction of ship by GPS position fixing system, electronic compass, state sensor etc., master control system presses the route navigation detection scanning planned according to these information controls.Can input the longitude and latitude of detecting location under coaching mode manually, robot automatic navigation carries out detection scanning to this task point.
3, there is fail-safe mechanisms, when base station signal, remote controller signal loss or robot electric quantity are not enough, can the behavior of making a return voyage be triggered, namely turn back to departure point, lose to prevent robot.
Scanning observation process is as follows:
1, when robot arrives object point or presses course line automatic running, in sonar master control system, micro controller system 13 launches the electronic pulse signal of 125KHz.
2, electronic impulse is through overcutting, after boost module 14, is converted to acoustic signals is delivered in water through underwater acoustic transducer 3.
3, sound wave reflexes in underwater acoustic transducer 3 through water-bed or object in water, and acoustic signals is converted to electric signal by underwater acoustic transducer 3.
4, electric signal is after signal amplification unit 16 amplification with filter 15 filtering, be sent to sonar control system 8, sonar control system 8 receives electric signal after treatment, through calculating the information in water-bed and water, and information is sent back to ground station by wireless data transmission module, ground station according to these information by water-bed with information in water by real-time the showing of the formal intuition of image.
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 etc. send to master control system.
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| CN105151255A (en) * | 2015-10-25 | 2015-12-16 | 宁波市鄞州发辉机械科技有限公司 | Underwater monitoring system |
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
| CN106672181A (en) * | 2015-11-09 | 2017-05-17 | 上海航士海洋装备有限公司 | Water sealed culvert detecting robot system and implementation method |
| CN106845623A (en) * | 2016-12-13 | 2017-06-13 | 国网冀北电力有限公司信息通信分公司 | A kind of electric power wireless private network base station planning method based on artificial fish-swarm algorithm |
| CN106864706A (en) * | 2015-12-11 | 2017-06-20 | 上海航士海洋装备有限公司 | Workbench and implementation under intelligent water |
| CN108319276A (en) * | 2017-12-26 | 2018-07-24 | 上海交通大学 | Underwater robot attitude regulation control device and method based on Boolean network |
| CN106809358B (en) * | 2015-12-01 | 2018-10-09 | 上海航事志汇海洋装备有限公司 | Nuclear power station cooling water diversion culvert detects robot system and implementation |
| CN109240315A (en) * | 2018-08-27 | 2019-01-18 | 西北工业大学 | A kind of underwater automatic obstacle avoiding system and underwater barrier-avoiding method |
| CN109856659A (en) * | 2019-01-21 | 2019-06-07 | 同济大学 | Preventing seabed base positions time service and data record system and method |
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| CN106864706B (en) * | 2015-12-11 | 2018-10-09 | 上海航事志汇海洋装备有限公司 | Workbench and implementation under intelligent water |
| CN106864706A (en) * | 2015-12-11 | 2017-06-20 | 上海航士海洋装备有限公司 | Workbench and implementation under intelligent water |
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
| CN106845623A (en) * | 2016-12-13 | 2017-06-13 | 国网冀北电力有限公司信息通信分公司 | A kind of electric power wireless private network base station planning method based on artificial fish-swarm algorithm |
| CN106845623B (en) * | 2016-12-13 | 2019-09-13 | 国网冀北电力有限公司信息通信分公司 | A kind of electric power wireless private network base station planning method based on artificial fish-swarm algorithm |
| CN108319276A (en) * | 2017-12-26 | 2018-07-24 | 上海交通大学 | Underwater robot attitude regulation control device and method based on Boolean network |
| CN109240315A (en) * | 2018-08-27 | 2019-01-18 | 西北工业大学 | A kind of underwater automatic obstacle avoiding system and underwater barrier-avoiding method |
| CN109856659A (en) * | 2019-01-21 | 2019-06-07 | 同济大学 | Preventing seabed base positions time service and data record system and method |
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Application publication date: 20151007 |