CN106647751A - Underwater cleaning robot path control and positioning device for ship - Google Patents
Underwater cleaning robot path control and positioning device for ship Download PDFInfo
- Publication number
- CN106647751A CN106647751A CN201611141778.XA CN201611141778A CN106647751A CN 106647751 A CN106647751 A CN 106647751A CN 201611141778 A CN201611141778 A CN 201611141778A CN 106647751 A CN106647751 A CN 106647751A
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- CN
- China
- Prior art keywords
- roller
- cleaning robot
- motor
- robot path
- potentiometer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 53
- 230000008878 coupling Effects 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- 238000007789 sealing Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 abstract description 4
- 239000002775 capsule Substances 0.000 abstract 2
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides an underwater cleaning robot path control and positioning device and belongs to the underwater robot technical field. The underwater cleaning robot path control and positioning device includes a sealed capsule, a coupling, a roller, an axle, a driver, a motor, a potentiometer, a Hall sensor and magnets; the drive and the motor are arranged inside of the sealed capsule; the end shaft of the motor is connected with a worm through the coupling; the potentiometer is arranged on a fixing frame through a connecting frame; the worm is engaged with the worm wheel at an end portion of the axle; a male gear at the rear end of the worm wheel is engaged with a female gear at an end portion of the potentiometer; one end of the axle, which is adjacent to the roller, is provided with the Hall sensor; and the roller is provided with the magnets. With the underwater cleaning robot path control and positioning device adopted, a cleaning device can always be applied to a cleaning wall, the movement distance of the cleaning device can be detected and positioned, the angle of the roller can be detected through the potentiometer, and it can be ensured that the cleaning device moves according to a planed path. The underwater cleaning robot path control and positioning device has the advantages of reasonable structure, high safety, safety reliability and the like.
Description
Technical field
The present invention relates to underwater cleaning engineering device technique field, more particularly to a kind of underwater cleaning robot path clustering and fixed
Position device.
Background technology
Underwater cleaning is that a technical difficulty is larger and industry of great market potential, and cavitation jet technology is clear at present
Most potential method emerging in industry is washed, but also there are problems that many on the equipment for cleaning under water, such as at present can only
Carrying out diver carries out hand-held operation, and cleaning efficiency is low, human cost height etc..Washing and cleaning operation is carried out using underwater robot, by
It is complicated in underwater environment, huge flow field disturbance can be produced during washing and cleaning operation again so that robot cannot enter according to path planning
Row operation so that easily occur omitting in cleaning process, control difficulty is too big.
The content of the invention
The invention provides a kind of underwater cleaning robot path clustering and positioner, it is ensured that cleaning device is all the time
Laminating cleaning wall, have the advantages that it is rational in infrastructure, safe and reliable, while by Hall element to the movement of cleaning device away from
From being detected, so as to position to cleaning positions, can be detected by the angle of angular potentiometer pair roller in addition,
Ensure that cleaning device can be moved according to path planning.
To solve above-mentioned technical problem, the embodiment of the present application provides a kind of underwater cleaning robot path clustering and positioning
Device, including shell body, sealed compartment, shaft coupling, roller and wheel shaft, it is characterised in that also including driver, motor, potentiometer,
Hall element and magnet steel, in the protective cover that shell body is surrounded, driver and motor are in sealed compartment to described sealed compartment
Inside, the end axle of motor is connected by shaft coupling with worm screw, and the other end of worm screw is arranged on the bearing of fixed mount, on fixed mount
Also potentiometer is provided with by link, worm screw is mutually engaged matching with the turbine of axle ends, and the rear end of turbine is additionally provided with a public affairs
Gear, and matching is mutually engaged with female gear of potentiometer end, the one end on wheel shaft near roller is provided with Hall element, roller
Some through holes are provided with, magnet steel is provided between adjacent through-holes.
Used as the preferred embodiment of this programme, described motor is stepper motor, and rear end is provided with driver, and driver passes through
Joint for sealing connecting is connected with ambient controller.
As the preferred embodiment of this programme, the end of described sealed compartment and the position contacted with motor side axle
It is equipped with O-ring seal.
Used as the preferred embodiment of this programme, described wheel shaft is L-shaped structure, wherein one section be connected with roller is sky
Core structure, detection electronic component of the inside equipped with Hall element.
Used as the preferred embodiment of this programme, described magnet steel is cylindrical structural, and quantity is no less than three, hall sensing
On same circumference, the radius of the circumference is 1/2nd of roller radius to the central spot of device and magnet steel.
Used as the preferred embodiment of this programme, described current potential is calculated as rotation angle measurement sensor, and by the company of sealing
Joint is connected with controller.
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
Can ensure that cleaning device is fitted all the time cleaning wall, have the advantages that it is rational in infrastructure, safe and reliable, while passing through
Hall element is detected to the displacement of cleaning device, so as to position to cleaning positions, angle can be passed through in addition
The angle of degree potentiometer pair roller is detected, it is ensured that cleaning device can be moved according to path planning.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only these
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structure cross-sectional schematic of the embodiment of the present application；
Fig. 2 is the structural representation of the transmission mechanism of the embodiment of the present application；
Fig. 3 is the structural representation of the wheel shaft transmission of the embodiment of the present application；
Fig. 4 is the structural representation in the cleaning path of the embodiment of the present application.
In Fig. 1-Fig. 4：1st, shell body, 2, driver, 3, motor, 4, sealed compartment, 5, shaft coupling, 6, potentiometer, 7, worm screw,
8th, roller, 9, Hall element, 10, wheel shaft, 11, fixed mount, 12, bearing, 13, female gear, 14, through hole, 15, magnet steel, 16, whirlpool
Wheel, 17, public gear.
Specific embodiment
The invention provides a kind of underwater cleaning robot path clustering and positioner, it is ensured that cleaning device is all the time
Laminating cleaning wall, have the advantages that it is rational in infrastructure, safe and reliable, while by Hall element to the movement of cleaning device away from
From being detected, so as to position to cleaning positions, can be detected by the angle of angular potentiometer pair roller in addition,
Ensure that cleaning device can be moved according to path planning.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail.
As Figure 1-Figure 4, a kind of underwater cleaning robot path clustering and positioner, including shell body 1, sealed compartment
4th, shaft coupling 5, roller 8 and wheel shaft 10, it is described also including driver 2, motor 5, potentiometer 6, Hall element 9 and magnet steel 15
Sealed compartment 4 be located in the protective cover that surrounds of shell body 1, driver 2 and motor 5 inside sealed compartment 4, the end axle of motor 5
It is connected with worm screw 7 by shaft coupling 5, the other end of worm screw 7 is arranged on the bearing 12 of fixed mount 11, is also passed through on fixed mount 11
Link is provided with potentiometer 6, and worm screw 7 is mutually engaged matching with the turbine 16 of the end of wheel shaft 10, and the rear end of turbine 16 is additionally provided with one
Public gear 17, and matching is mutually engaged with female gear 13 of the end of potentiometer 6, the one end on wheel shaft 10 near roller 8 is provided with Hall
Sensor 9, roller 8 is provided with some through holes 14, and magnet steel 15 is provided between adjacent through-holes 14.
Wherein, in actual applications, described motor 5 is stepper motor, and rear end is provided with driver 2, and driver 2 is by close
Envelope connector is connected with ambient controller, by the driving of stepper motor 5, the angle rotation of roller 8 is controlled, so as to realize corner
The posture changing at place.
Wherein, in actual applications, the end of described sealed compartment 4 and equal with the position that the end axle of motor 5 contacts
It is provided with O-ring seal, good sealing effect prevents motor 5 and driver 2 to be short-circuited because of leak etc. unexpected.
Wherein, in actual applications, described wheel shaft 10 is L-shaped structure, wherein one section be connected with roller 5 is hollow
Structure, detection electronic component of the inside equipped with Hall element 9, in cleaning process, needs to make roller 8 suit wall all the time
Face, so as to ensure effective work of cleaning device, when Hall element 9 can't detect pulse signal, illustrates that roller 8 no longer turns
Dynamic, i.e. the roller 8 of the position have left cleaning wall, now propulsion system be controlled by controller, to whole cleaning device
Attitude is adjusted so that roller 8 is fitted on wall again, and continuation carries out operation along path planning.
Wherein, in actual applications, described magnet steel 15 is cylindrical structural, and quantity is no less than three, Hall element 9
With the central spot of magnet steel 15 on same circumference, the radius of the circumference is 1/2nd of the radius of roller 5, can pass through magnet steel
The pulse signal produced between 15 and Hall element 9, detects the rotation number of turns of roller 8, and the number of turns is multiplied by the diameter of roller 8
The travel distance of cleaning device is obtained, so as to position to the position of cleaning device.
Wherein, in actual applications, described potentiometer 6 is rotation angle measurement sensor, and by joint for sealing connecting
It is connected with controller, the rotating direction of roller 8 needs to be consistent with the direction of motion of cleaning device all the time, works as cleaning device
When reaching cleaning edge, roller 8 is driven to be rotated by 90 ° by 3 live axle of motor 10, the angle for being rotated passes through current potential
Meter 6 is measured, and when reaching 90 degree, potentiometer 6 sends signal automatically, and controlled motor 3 stops operating.
The above, is only presently preferred embodiments of the present invention, and any pro forma restriction is not made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, in the range of without departing from technical solution of the present invention, when making a little change or modification using the technology contents of the disclosure above
For the Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit of the foundation present invention
Any simple modification, equivalent variations and the modification made to above example, still falls within the range of technical solution of the present invention.
Claims (6)
1. a kind of underwater cleaning robot path clustering and positioner, including shell body (1), sealed compartment (4), shaft coupling (5),
Roller (8) and wheel shaft (10), it is characterised in that also including driver (2), motor (5), potentiometer (6), Hall element (9)
With magnet steel (15), in the protective cover that shell body (1) is surrounded, driver (2) and motor (5) are in described sealed compartment (4)
Sealed compartment (4) is internal, and the end axle of motor (5) is connected by shaft coupling (5) with worm screw (7), and the other end of worm screw (7) is arranged on admittedly
Determine on the bearing (12) of frame (11), also potentiometer (6), worm screw (7) and wheel shaft (10) are provided with by link on fixed mount (11)
The turbine (16) of end is mutually engaged matching, and the rear end of turbine (16) is additionally provided with a public gear (17), and with potentiometer (6) end
Female gear (13) be mutually engaged matching, Hall element (9) is provided near one end of roller (8) on wheel shaft (10), on roller (8)
Some through holes (14) are provided with, magnet steel (15) is provided between adjacent through-holes (14).
2. a kind of underwater cleaning robot path clustering according to claim 1 and positioner, it is characterised in that described
Motor (5) be stepper motor, rear end is provided with driver (2), and driver (2) is by joint for sealing connecting and ambient controller phase
Even.
3. a kind of underwater cleaning robot path clustering according to claim 1 and positioner, it is characterised in that described
Sealed compartment (4) end and hold the position that contacts of axle to be equipped with O-ring seal with motor (5).
4. a kind of underwater cleaning robot path clustering according to claim 1 and positioner, it is characterised in that described
Wheel shaft (10) be L-shaped structure, wherein one section be connected with roller (8) be hollow-core construction, inside be equipped with Hall element (9)
Detection electronic component.
5. a kind of underwater cleaning robot path clustering according to claim 1 and positioner, it is characterised in that described
Magnet steel (15) be cylindrical structural, quantity is no less than three, and the central spot of Hall element (9) and magnet steel (15) is in same
On circumference, the radius of the circumference is 1/2nd of roller (8) radius.
6. a kind of underwater cleaning robot path clustering according to claim 1 and positioner, it is characterised in that described
Potentiometer (6) be rotation angle measurement sensor, and be connected with controller by joint for sealing connecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611141778.XA CN106647751B (en) | 2016-12-12 | 2016-12-12 | Path control and positioning device of ship underwater cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611141778.XA CN106647751B (en) | 2016-12-12 | 2016-12-12 | Path control and positioning device of ship underwater cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106647751A true CN106647751A (en) | 2017-05-10 |
| CN106647751B CN106647751B (en) | 2020-07-31 |
Family
ID=58824880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611141778.XA Active CN106647751B (en) | 2016-12-12 | 2016-12-12 | Path control and positioning device of ship underwater cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106647751B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110260777A (en) * | 2019-07-05 | 2019-09-20 | 贵州航天控制技术有限公司 | A kind of embedded rudder face corner measuring apparatus |
| CN110316333A (en) * | 2019-07-18 | 2019-10-11 | 西湖大学 | Underwater robot for shipping cleaning |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2133394Y (en) * | 1992-06-19 | 1993-05-19 | 杭州无线电专用设备一厂 | Wire winding mechanism |
| CN1796222A (en) * | 2004-12-24 | 2006-07-05 | 西南师范大学 | Self adaptive sensing device for transmission on motorcycle |
| CN102616129A (en) * | 2012-03-21 | 2012-08-01 | 寸晓鱼 | Motor system for Halless electric vehicle without magnetic steel |
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2016
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| CN1796222A (en) * | 2004-12-24 | 2006-07-05 | 西南师范大学 | Self adaptive sensing device for transmission on motorcycle |
| CN102616129A (en) * | 2012-03-21 | 2012-08-01 | 寸晓鱼 | Motor system for Halless electric vehicle without magnetic steel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110260777A (en) * | 2019-07-05 | 2019-09-20 | 贵州航天控制技术有限公司 | A kind of embedded rudder face corner measuring apparatus |
| CN110316333A (en) * | 2019-07-18 | 2019-10-11 | 西湖大学 | Underwater robot for shipping cleaning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106647751B (en) | 2020-07-31 |
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