CN105197206B - A kind of rope drives underwater detecting robot - Google Patents
A kind of rope drives underwater detecting robot Download PDFInfo
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- CN105197206B CN105197206B CN201510700519.5A CN201510700519A CN105197206B CN 105197206 B CN105197206 B CN 105197206B CN 201510700519 A CN201510700519 A CN 201510700519A CN 105197206 B CN105197206 B CN 105197206B
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Abstract
The present invention relates to a kind of rope to drive underwater detecting robot, available for the vision-based detection of submerged structure, including pier, hoist engine unit, underwater movable platform, submarine mechanical arm unit, camera, light source, power supply, controller unit and interaction control unit.Hoist engine is connected by rope with mobile platform, and rope winding is on hoist engine；Camera is socketed in one end of the submarine mechanical arm unit with light source respectively；Underwater control unit is fixed on underwater movable platform, and submarine mechanical arm unit, camera, light source, mobile platform attitude transducer and controller unit are connected with underwater manipulator unit respectively.The present invention is by way of rope driving, and control mobile platform is made to rise and move horizontally action under water, and mechanical arm adjusts camera in a small range；It can avoid making water body more muddy and the quality of image checking using propeller, so as to improve final Detection results, improve the sensitivity of Underwater Imaging detection.
Description
Technical field
The present invention relates to a kind of underwater detecting robot, more particularly to a kind of underweater vision detection machine driven using rope
Device people.
Background technology
The underwater testing equipment such as Underwater Engineering, underwater detecting robot, underwater television be widely used to underwater detection with
Operation, currently used underwater detecting robot are driven using screw propeller mostly, particularly in marine settings, largely
Lifted and moved using screw propeller driving underwater robot, still, in the poor river of water quality, river, lake, spiral shell
The pusher underwater robot of rotation oar exists clearly disadvantageous, and screw propeller is during operating, due to a large amount of agitations
Silt in water body, easily increase the turbidity of water body, cause the quality of image checking to reduce.On the other hand, underwater television
Using single rope hanging, underwater photographic system can only can not realize under water three in a small range adjustment angle and position
Quick moving-vision scanning detection in the range of dimension space.
The inland river basin water body in China contains the impurity such as substantial amounts of silt, microorganism, has a strong impact on Underwater Imaging detection
Quality, and substantial amounts of submerged structure, such as river levee, dam, sluice gate etc., long period of soaking bear larger hydraulic pressure in water, because
This, urgent need, which wants a kind of, can realize a wide range of scanning in the poor water body of water quality, obtain the underwater of high-definition image
Detect robot.
The content of the invention
The technical problems to be solved by the invention, which are to provide in a kind of environment poor available for water quality, obtains more preferable picture
The detection robot of definition.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of rope drives underwater detecting robot, including extremely
A few pier, hoist engine unit, underwater movable platform, submarine mechanical arm unit, camera, light source, power supply, controller list
Member and interaction control unit；The pier is located at more than the water surface, and at least one institute is fixed with each pier
Hoist engine unit is stated, the hoist engine unit includes reel, gear train, hoist engine motor, hoist engine Position and attitude sensor and elevator
Machine encoder；The reel is connected to the side of the gear train, and the hoist engine motor connection is in the another of the gear train
Side；The hoist engine Position and attitude sensor is fixedly connected with the pier, and the hoist engine encoder is arranged on the elevator
On electromechanical machine or the reel；Connected between the underwater movable platform and the hoist engine unit by rope；It is described underwater
Mobile platform is provided with a underwater control unit and at least one set of mobile platform attitude transducer；The submarine mechanical arm unit
One end is arranged on the underwater movable platform；The camera is socketed in the submarine mechanical arm unit respectively with the light source
On the other end；The underwater control unit is fixed on the underwater movable platform, the submarine mechanical arm unit, camera, light
Source, mobile platform attitude transducer and controller unit are connected with the underwater control unit line respectively；The power supply connection
Have a power-supply controller of electric, the power-supply controller of electric respectively with underwater control unit and controller unit connection.
Preferably, the pier uses one or more of groups in ship, vehicle, fixed buildings or fixed spreader
Close.
Preferably, the submarine mechanical arm unit includes mechanical arm driver, mechanical arm motor, mechanical arm encoder and extremely
A few joint of mechanical arm；One end of the joint of mechanical arm is fixed on the underwater movable platform, the camera with it is described
Light source be socketed in respectively the other end of the joint of mechanical arm, the mechanical arm driver and the mechanical arm encoder with it is described
Underwater control unit line connects.
Preferably, the global density of the underwater movable platform is more than the density of working environment water body.
Preferably, the hoist engine Position and attitude sensor is gyroscope, acceleration transducer, three axial rake sensors, electronics
One or more of combinations in compass, laser range sensor or sonac.
Preferably, the mobile platform attitude transducer is gyroscope, acceleration transducer, three axial rake sensors, electricity
One or more of combination in sub- compass, laser range sensor or sonac.
Preferably, the interaction control unit includes the remote monitoring module with controller unit connection, hand respectively
Dynamic control module and display.
Preferably, the remote monitoring module uses desktop computer, notebook computer, industrial computer, tablet personal computer or intelligence
One or more combinations in energy mobile phone.Preferably, manual control module uses portable control box and at least one button
And the fixed control operation panel of indicator lamp.Preferably, remote monitoring module, manual control module and display respectively with control
Device unit processed is using GPRS, short message, 3G network, 4G networks, WLAN, wired internet, bluetooth, telephone wire, 232 serial
One or more combination connections in order wire, 485 null modem cables, CAN or USB.
Based on above-mentioned technical proposal, the beneficial effects of the invention are as follows：The mode that the present invention drives by using rope, control water
Lower mobile platform is made to rise and move horizontally action under water, and mechanical arm adjusts camera in a small range, realizes to underwater detection
The mobile control of robot, the position of camera and light source is then adjusted by the submarine mechanical arm unit on underwater movable platform again
Appearance, clearly image is obtained, realizes the vision-based detection to submerged structure；Avoid making water body more muddy using propeller and being imaged
The quality of detection, so as to improve final Detection results, improve the sensitivity of Underwater Imaging detection.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the control system architecture schematic diagram of the present invention；
Fig. 3 is the Subsea Control Systems structural representation of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows：
1. pier；2. hoist engine unit；21. reel；22. gear train；23. hoist engine motor；24. hoist engine pose
Sensor；25. hoist engine encoder；3. underwater movable platform；30. underwater control unit；31. mobile platform attitude transducer；
4. submarine mechanical arm unit；40. mechanical arm driver；41. mechanical arm motor；42. mechanical arm encoder；43. joint of mechanical arm；
51. camera；52. light source；6. power supply；61. power-supply controller of electric；7. controller unit；8. interaction control unit；81. remote monitoring
Module；82. manual control module；83. display；9. the water surface.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figure 1, Figure 2 and Figure 3, a kind of rope driving underwater detecting robot, including at least one pier 1, volume
Raise machine unit 2, underwater movable platform 3, submarine mechanical arm unit 4, camera 51, light source 52, power supply 6, controller unit 7 and interaction
Control unit 8；The pier 1 is located at the water surface more than 9, and at least one volume is fixed with each pier 1
Machine unit 2 is raised, the hoist engine unit 2 includes reel 21, gear train 22, hoist engine motor 23, hoist engine Position and attitude sensor 24
With hoist engine encoder 25；The reel 21 is connected to the side of the gear train 22, and the hoist engine motor 23 is connected to institute
State the opposite side of gear train 22；The hoist engine Position and attitude sensor 24 is fixedly connected with the pier 1, and the hoist engine is compiled
Code device 25 is arranged on the hoist engine motor 23 or the reel 21；The underwater movable platform 3 and the hoist engine unit 2
Between connected by rope；The underwater movable platform 3 is provided with a underwater control unit 30 and at least one set of mobile platform appearance
State sensor 31；One end of the submarine mechanical arm unit 4 is arranged on the underwater movable platform 3；The camera 51 and institute
Light source 52 is stated to be socketed in respectively on the other end of the submarine mechanical arm unit 4；The underwater control unit 30 is fixed on described
On underwater movable platform 3, the submarine mechanical arm unit 4, camera 51, light source 52, mobile platform attitude transducer 31 and control
Device unit 7 respectively with the connection of underwater control unit 30；The power supply 6 is connected with power-supply controller of electric 61, the power supply
Controller 61 respectively with underwater control unit 30 and the connection of controller unit 7.
It is preferred that：Described pier 1 is using one or more of in ship, vehicle, fixed buildings or fixed spreader
Combination.
It is preferred that：Described submarine mechanical arm unit 4 includes mechanical arm driver 40, mechanical arm motor 41, mechanical arm coding
Device 42 and at least one joint of mechanical arm 43；One end of the joint of mechanical arm 43 is fixed on the underwater movable platform 3, institute
State camera 51 and be socketed in the other end of the joint of mechanical arm 43, the mechanical arm driver 40 and institute respectively with the light source 52
State mechanical arm encoder 42 and the connection of underwater control unit 30.
It is preferred that：The global density of described underwater movable platform 3 is more than the density of working environment water body.
It is preferred that：Described hoist engine Position and attitude sensor 24 is gyroscope, acceleration transducer, three axial rake sensors, electricity
One or more of combinations in sub- compass, laser range sensor or sonac.
It is preferred that：Described underwater movable platform Position and attitude sensor 31 is gyroscope, acceleration transducer, three axial rakes sensing
One or more of combinations in device, electronic compass, laser range sensor or sonac.
It is preferred that：Described interaction control unit 8 includes the remote monitoring module with the connection of controller unit 7 respectively
81st, manual control module 82 and display 83.
It is preferred that：The remote monitoring module 81 is using desktop computer, notebook computer, industrial computer, tablet personal computer or intelligence
One or more combinations in energy mobile phone.
It is preferred that：The manual control module 82 is fixed using portable control box and at least one button and indicator lamp
Control operation panel.
It is preferred that：Remote monitoring module 81, manual control module 82 and display 83 use with controller unit 7 respectively
GPRS, short message, 3G network, 4G networks, WLAN, wired internet, bluetooth, telephone wire, 232 null modem cables, 485 strings
One or more combination connections in row order wire, CAN or USB.
The operation principle of the rope driving underwater detecting robot and operating process are as follows：
Pier 1 is fixed or mobile in the water surface more than 9, by 3 hoist engine units 2, drive three ropes, three
Rope is connected with underwater movable platform 3, and control underwater movable platform 3 is made to rise, decline and move horizontally under water.
The signal that controller unit 7 is transmitted by hoist engine Position and attitude sensor 24 can obtain hoist engine horizontal level and
Angled state, at the same time mobile platform attitude transducer 31 send the pose signal of underwater movable platform 3 to underwater control
Unit 30, then send the pose signal of underwater movable platform 3 to controller unit 7, controller list by underwater control unit 30
The pose signal of hoist engine pose signal and underwater movable platform 3 is passed to interaction control unit 8 by member 7, and operator passes through friendship
Control signal is passed to controller unit 7 by mutual control unit 8, and then control command is sent respectively to roll up by controller unit 7
Machine unit 2 and underwater control unit 30 are raised, so as to realize by the way of rope driving, realizes the shifting to underwater detecting robot
Dynamic control.
Light source 52 and camera 51 can be realized a range of rotation by submarine mechanical arm unit 4, more so as to photograph
Image.And then controller unit 7 is arrived by the image photographed or signal are defeated, controller unit 7 passes to image or signal
Interaction control unit 8, image or other signals are finally shown and recorded by interaction control unit 8.The device avoids using spiral shell
Rotation oar driving underwater movable platform causes water quality more muddy, suitable for carrying out underweater vision detection the poor water body of water quality
Operation.So as to improve final Detection results, the sensitivity of Underwater Imaging detection is improved.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of rope drives underwater detecting robot, it is characterised in that：Including at least one pier (1), hoist engine unit
(2), underwater movable platform (3), submarine mechanical arm unit (4), camera (51), light source (52), power supply (6), controller unit (7)
With interaction control unit (8)；
The pier (1) is located at more than the water surface (9), and at least one volume is fixed with each pier (1)
Machine unit (2) is raised, the hoist engine unit (2) includes reel (21), gear train (22), hoist engine motor (23), elevator seat in the plane
Appearance sensor (24) and hoist engine encoder (25)；
The reel (21) is connected to the side of the gear train (22), and the hoist engine motor (23) is connected to the gear train
(22) opposite side, the hoist engine Position and attitude sensor (24) are fixedly connected with the pier (1), the hoist engine coding
Device (25) is arranged on the hoist engine motor (23) or the reel (21)；
It is connected between the underwater movable platform (3) and the hoist engine unit (2) by rope；
The hoist engine unit (2) is provided with three, drives three ropes, and three ropes are connected with underwater movable platform (3),
Control underwater movable platform (3) rises, declines and moved horizontally under water；
The underwater movable platform (3) is provided with a underwater control unit (30) and at least one set of mobile platform attitude transducer
(31)；
One end of the submarine mechanical arm unit (4) is arranged on the underwater movable platform (3)；The camera (51) with it is described
Light source (52) is socketed on the other end of the submarine mechanical arm unit (4) respectively；
The underwater control unit (30) is fixed on the underwater movable platform (3), the submarine mechanical arm unit (4), phase
Machine (51), light source (52), mobile platform attitude transducer (31) and controller unit (7) respectively with the underwater control unit
(30) connection；
The power supply (6) is connected with power-supply controller of electric (61), the power-supply controller of electric (61) respectively with underwater control unit (30)
With controller unit (7) connection.
A kind of 2. rope driving underwater detecting robot according to claim 1, it is characterised in that the pier (1)
Using one or more of combinations in ship, vehicle, fixed buildings or fixed spreader.
A kind of 3. rope driving underwater detecting robot according to claim 1, it is characterised in that the submarine mechanical arm list
First (4) include mechanical arm driver (40), mechanical arm motor (41), mechanical arm encoder (42) and at least one joint of mechanical arm
(43)；One end of the joint of mechanical arm (43) is fixed on the underwater movable platform (3), the camera (51) and the light
Source (52) is socketed in the other end of the joint of mechanical arm (43) respectively, and the mechanical arm driver (40) and the mechanical arm are compiled
Code device (42) and underwater control unit (30) connection.
A kind of 4. rope driving underwater detecting robot according to claim 1, it is characterised in that the underwater movable platform
(3) global density is more than the density of working environment water body.
5. a kind of rope driving underwater detecting robot according to claim 1, it is characterised in that the hoist engine pose passes
Sensor (24) is that gyroscope, acceleration transducer, three axial rake sensors, electronic compass, laser range sensor or ultrasound pass
One or more of combinations in sensor.
A kind of 6. rope driving underwater detecting robot according to claim 1, it is characterised in that the mobile platform posture
Sensor (31) is gyroscope, acceleration transducer, three axial rake sensors, electronic compass, laser range sensor or ultrasound
One or more of combinations in sensor.
A kind of 7. rope driving underwater detecting robot according to claim 1, it is characterised in that the interaction control unit
(8) remote monitoring module (81) with controller unit (7) connection, manual control module (82) and display respectively are included
(83)。
A kind of 8. rope driving underwater detecting robot according to claim 7, it is characterised in that the remote monitoring module
(81) one or more combinations in desktop computer, notebook computer, industrial computer, tablet personal computer or smart mobile phone are used.
A kind of 9. rope driving underwater detecting robot according to claim 7, it is characterised in that the manual control module
(82) portable control box and the fixed control operation panel of at least one button and indicator lamp are used.
A kind of 10. rope driving underwater detecting robot according to claim 7, it is characterised in that remote monitoring module
(81), manual control module (82) and display (83) are respectively with controller unit (7) using GPRS, short message, 3G network, 4G nets
Network, WLAN, wired internet, bluetooth, telephone wire, 232 null modem cables, 485 null modem cables, CAN or USB
In one or more combinations connections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510700519.5A CN105197206B (en) | 2015-10-23 | 2015-10-23 | A kind of rope drives underwater detecting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510700519.5A CN105197206B (en) | 2015-10-23 | 2015-10-23 | A kind of rope drives underwater detecting robot |
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| CN105197206A CN105197206A (en) | 2015-12-30 |
| CN105197206B true CN105197206B (en) | 2017-12-22 |
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| CN109501983B (en) * | 2018-11-20 | 2023-06-23 | 西安工业大学 | Underwater actuator and method thereof |
| CN110712732B (en) * | 2019-10-23 | 2020-09-04 | 海风电气(江苏)有限公司 | Underwater diving equipment for ocean engineering |
| CN112362093B (en) * | 2020-08-10 | 2022-02-11 | 重庆大学 | Dam detection robot, detection system and detection method |
| CN113459126B (en) * | 2021-07-29 | 2022-08-23 | 河南大学 | Three-degree-of-freedom flexible cable parallel robot for underwater photography and adjusting method |
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Effective date of registration: 20160722 Address after: Luo East Lake Development Zone 430074 Hubei city of Wuhan Province Yu Road No. 243 building of science and technology Applicant after: Wuhan Dragon technology limited liability company Address before: 430023, Wuhan Province, Jianghan District, Hubei Jianghan Economic Development Zone 0601 block wisdom building, 5 floor Applicant before: Extreme imaging technology (Wuhan) Co., Ltd. |
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Address after: Xinghu street Suzhou Industrial Park in Jiangsu Province, creative industry park 15-501 cutting unit Applicant after: Suzhou Jiao Visual Intelligent Technology Co Ltd Address before: Luo East Lake Development Zone 430074 Hubei city of Wuhan Province Yu Road No. 243 building of science and technology Applicant before: Wuhan Dragon technology limited liability company |
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Inventor after: Huang Fan Inventor after: Han Jiefei Inventor after: Zou Cheng Inventor after: Chu Ning Inventor before: Zou Cheng Inventor before: Han Jiefei Inventor before: Huang Fan |
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