CN106828838B - A kind of portable streamlined remote underwater robot - Google Patents
A kind of portable streamlined remote underwater robot Download PDFInfo
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- CN106828838B CN106828838B CN201710053777.8A CN201710053777A CN106828838B CN 106828838 B CN106828838 B CN 106828838B CN 201710053777 A CN201710053777 A CN 201710053777A CN 106828838 B CN106828838 B CN 106828838B
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- navigation
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- fairing
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- propeller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of structure of portable streamlined remote underwater robot, solves the problems, such as that available frame formula underwater detection robot is complicated and anti-flow performance force difference.The present invention has fairing, propeller can be promoted mainly by two, two vertical cooperations for pushing away propeller and two vertical rudder wings realize that robot is remotely controlled anti-current and detects in water, the present invention has simple in structure, easily controllable, the series of advantages such as stronger environmental suitability and certain scalability, present invention is mainly used for complete marine environment detection mission.
Description
Technical field
The present invention relates to a kind of portable streamlined remote underwater robot, belong to anti-current navigation and undersea detection field.
Background technology
Due to diver operation it is of high cost, dangerous it is big, water temperature is low, so underwater robot is underwater exploration and opens
The important tool of hair.At present, the detection of most of submarine targets, environment detection are mainly completed by remote underwater robot ROV.But
ROV uses open-shelf structure more, and the bleeding resistance of especially middle-size and small-size open-shelf ROV is not strong, it is difficult to meet spy dam under actual environment,
The work requirements such as observed object, underwater exploration.Existing multimode frame-type underwater detection robot, it is mainly characterized by structure
Simply, Forward-looking Sonar and multi-beam Forward-looking Sonar can be carried respectively by main frame and sub-frame.But in order to improve frame-type
The bleeding resistance of ROV, the propeller that its horizontal plane direction promotes should use the arrangement that vector promotes, mainly pass through propeller
X-type is arranged, improves lateral thrust and anti-current ability, but interfered with each other since the flow field between propeller can produce, X-type arrangement side
Formula will increase the size and weight of ROV, make its multimode frame-type underwater detection robot anti-flow performance force difference.
The content of the invention
The purpose of the present invention is to solve available frame formula underwater detection robot turnability is poor, volume is big and anti-current
The problem of performance force difference and a kind of portable streamlined remote underwater robot is provided.
The object of the present invention is achieved like this：Including carrier main frame, be arranged on it is streamlined outer outside carrier main frame
Shell, the control cabinet being arranged in carrier main frame, the navigation control unit being arranged in control cabinet and multichannel motor control panel,
Underwater environment is perceived perceives subsystem, propulsion with manipulating subsystem and stepper motor driver with detection subsystem, sub-aqua sport,
The fairing is made of fore body, parallel (middle) body and stern, and promote includes being located at fairing stern with manipulating subsystem
Two propulsions of hanging down that two of portion both sides promote mainly propeller, are separately fixed on the forward and backward corresponding carrier main frame of control cabinet
Device, two be vertically installed above and below fairing stern, which are hung down, pushes away propeller, and underwater environment is perceived is with detection point
System includes being arranged on the underwater wide angle cameras of fairing front end, the Forward-looking Sonar being arranged in fairing fore body,
And Forward-looking Sonar is fixed on the carrier main frame corresponding to fore body, stepper motor driver is fixed on fairing stern pair
On the carrier main frame answered, navigation control unit is communicated by cable with water surface console.
Present invention additionally comprises some such architectural features：
1. two horizontal stabilizers are further included, and two horizontal stabilizers are symmetricly set on left and right the two of fairing
Side, and two horizontal stabilizers are each attached on the carrier main frame corresponding to stern.
2. sub-aqua sport perceive subsystem include be used for gather shove information ocean current sensors, for gathering azimuth information
Magnetic compass, the depth gauge for sampling depth information.
3. navigation control unit controls two to promote mainly propeller and two and hang down and pushes away propeller by multichannel motor control panel,
Navigation control unit is driven two vertical rudder wings by stepper motor driver, ocean current sensors, magnetic compass, depth
The information that meter, Forward-looking Sonar, the underwater wide angle cameras of built-in holder are gathered is transmitted to navigation control unit.
Compared with prior art, the beneficial effects of the invention are as follows：, can under remote control of the present invention by water surface report control platform
Anti-current navigation and undersea detection operation are realized under ocean current disturbance, and the relevant information detected is transferred to water surface report control platform
Display on.Fairing of the present invention is seamlessly transitted by fore body, the semiellipsoid of stern difference radian and interlude
Realize airflow design；And by the propeller of promoting mainly of stern, the vertical rudder wing, which is realized, turns bow, so as to ensure underwater robot anti-current
Navigation and detection.Fairing of the present invention significantly reduces ship resistance, especially reduces the resistance for meeting stream navigation
Power, and improve the turnability of aircraft, so as to improving the environmental suitability of aircraft and handling.Visited meeting stream navigation
During survey, one aspect of the present invention controls propeller and the rudder wing to navigate by water underwater Renying stream by navigation control system,
On the other hand the corner of Underwater Camera can be adjusted by cradle head control, auto-steering and detection target is aligned, realizes flow field bar
High-efficient homework under part.
Brief description of the drawings
Fig. 1 is the structure diagram one of the present invention；
Fig. 2 is the structure diagram two of the present invention；
Fig. 3 is the structure diagram three of the present invention；
Fig. 4 is the control principle drawing of the present invention；
Fig. 5 is the principle schematic of the varying depth voyage of discovery under the ocean current of the present invention；
Fig. 6 is the direct route resistance table of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment one：It is a kind of streamlined portable remote underwater robot referring to Fig. 1 to Fig. 5 present invention, it includes stream
Volute casing 1, carrier main frame 2, control cabinet 3, navigation control unit 4, underwater environment perceive and detection subsystem 5, underwater fortune
Innervation is known subsystem 6, is promoted with manipulating subsystem 7, multichannel motor control panel 8 and stepper motor driver 9；The streamline
Type shell 1 is wrapped in outside carrier main frame 2, and control cabinet 3 is fixed on the inside of carrier main frame 2, navigation control unit 4 and more
Passage motor control panel 8 is located in control cabinet 3, and stepper motor driver 9 is located in fairing 1, and is fixed on carrier master
On frame 2, fairing 1 divides for three parts, is followed successively by fore body, parallel (middle) body and stern from front to back, fore body and stern are
The different semielliptical shaped case of curvature, parallel (middle) body is cylindrical shell, and propulsion is promoted mainly including two with manipulation subsystem 7 and pushed away
Hang down into device 7-1, two and push away propeller 7-2 and two vertical rudder wing 7-3；Two are promoted mainly propeller 7-1 respectively positioned at streamlined outer
The stern both sides of shell 1, and be fixed on the carrier main frame 2 corresponding to the stern both sides, two vertical propeller 7-2 that push away are positioned at stream
In volute casing 1, and it is separately fixed on the forward and backward corresponding carrier main frame 2 of control cabinet 3, two 7-3 pairs of vertical rudder wings
Title is arranged on above and below fairing 1, and two vertical rudder wing 7-3 are installed on corresponding to stern by connector
Fairing 1 on；Underwater environment perceive with the underwater wide angle cameras 5-1 of detection subsystem 5 including built-in holder and before
Depending on sonar 5-2, the underwater wide angle cameras 5-1 of built-in holder is arranged on the front end of fairing 1, for gathering underwater figure
Picture, and the underwater picture of collection is sent to navigation control unit 4, navigation control unit 4 is additionally operable to control the water of built-in holder
The steering of lower wide angle cameras 5-1；Forward-looking Sonar 5-2 is located in fairing 1, and is fixed on the carrier master corresponding to fore body
On frame 2, Forward-looking Sonar 5-2 is used to gather underwater sonar, and the underwater sonar of collection is sent to navigation control unit 4；Water
Lower motion perception subsystem 6 is located in fairing 1, and is fixed on carrier main frame 2, and sub-aqua sport perceives subsystem 6
Shove information, azimuth information and depth information for gathering, and the collection of collection is shoved information, azimuth information and depth information
It is uploaded to navigation control unit 4；Navigation control unit 4 is communicated by cable with water surface console, and navigation control unit 4 is also
Control two to promote mainly propeller 7-1 and two and hang down by multichannel motor control panel 8 and push away propeller 7-2, navigation control unit 4 is also
Two vertical rudder wing 7-3 are driven by stepper motor driver 9.
ROV remote underwater robot of the present invention design with fairing structure, significantly reduces ship resistance,
The resistance for meeting stream navigation is especially reduced, and improves the turnability of aircraft, adapted to so as to improve the environment of aircraft
Property and handling.Meet stream navigation detection during, for the lateral anti-current operational capabilities of conventional frame formula structure it is weak the shortcomings that,
One aspect of the present invention controls propeller and the rudder wing ROV is met stream navigation by navigating by water control unit, on the other hand passes through holder control
The corner of system adjustment Underwater Camera, auto-steering and aligns detection target, realizes the high-efficient homework under flow field condition.
The interior carrier main frame 2 of fairing 1 not only has supporting role to carrier, with fixed equipment and can carry
Possesses the sub-frame of fairing, sub-frame can carry the detect operation equipment such as multi-beam Forward-looking Sonar, manipulator.
A kind of streamlined portable remote underwater robot of the present invention includes promoting with manipulating subsystem, underwater ring
Border is perceived perceives subsystem with detection subsystem, sub-aqua sport, and streamlined portable remote underwater robot is controlled with the water surface
Platform is used cooperatively.Wherein underwater environment perceives the figure that will be collected by embedded processing unit and umbilical cables with detection subsystem
As information is delivered to the water surface；Sub-aqua sport perceives ocean current, the bow that subsystem is collected and passes through network and navel to depth information
Band cable is delivered to water surface console；The depthkeeping orientation anti-current navigation control instruction of water surface console will by network and umbilical cables to
Embedded processing unit sends control instruction so as to fulfill underwater control and detect operation.
Two promote mainly propeller 7-1, two hang down to pushing away propeller 7-2 and two vertical rudder wing 7-3 and form and promote and manipulate point
System.Wherein, 4 propellers send control by network connection from the navigation control unit in cabin to multichannel motor control panel 8
System instruction, multichannel motor control panel 8 send pwm control signal to corresponding propeller motor, complete to push away by watertight cable
Into the transmission of device control signal.Two vertical rudder wing 7-3 are mainly connected to stepper motor by serial ports from navigation control unit 4 and driven
Dynamic device 9 sends control instruction, and stepper motor driver 9 completes the transmission to vertical rudder wing control signal by watertight cable.
Underwater environment is perceived to be controlled with detection subsystem 5 and the sub-aqua sport perception composition depthkeeping orientation anti-current navigation of subsystem 6
System processed, sub-aqua sport, which perceives subsystem 6, will gather the current depth of robot and bow to information, ocean current sensors collection machine
People navigates by water faced Ocean current information and passes to the water surface by network, and operating personnel set according to current Ocean current information and detection mission
Surely navigate by water detection mission, to ROV send detective path, controller by the routing instruction according to operating personnel, the direction of ocean current and
Intensity provides ROV in bow to controlled quentity controlled variable, thrust and vertical rudder rudder angle is promoted mainly according to control allocation, by promoting mainly thrust and rudder angle
Joint thrust distribution realize in flow field meeting stream navigation, by control two hang down push away propeller 7-2 adjust robot dive or
Float and navigate by water, coordinate the varying depth voyage of discovery promoted mainly and realized under ocean current, referring specifically to Fig. 4.
Underwater environment perceives underwater the wide angle cameras 5-1 and Forward-looking Sonar 5- for including built-in holder with detection subsystem 5
2, wherein Forward-looking Sonar 5-2 are arranged in above the front end of fairing, and sonar detection data are sent to the water surface.Built-in holder
Underwater wide angle cameras 5-1 is arranged in the front end of fairing, and water surface console is by including video line, 485 Serial Port Lines
Watertight cable pass the signal along to navigation control unit 4, for current bow to detection target, automatically control adjustment built in holder
Corner, makes video camera all the time towards detection target.So as to complete detection and perception in underwater navigation, and with fairing phase
Adapt to, less influence on navigation.
Embodiment two：Illustrate the present embodiment referring to Fig. 1 to Fig. 4, further include two horizontal stabilizers 11, and two water steadyings
Determine the arranged on left and right sides that the wing 11 is symmetricly set on fairing 1, and two horizontal stabilizers 11 are each attached to corresponding to stern
Carrier main frame 2 on.
The present embodiment, two of stern promote mainly the both sides that propeller 7-1 is fixed on two horizontal stabilizers 11 of stern, not only
It can reduce and interfere with each other, navigation stability is improved by stabilizer, and can coordinate with the vertical rudder wing 7-3 of top, lead to
The rudder angle control of the thrust distribution promoted mainly and vertical rudder is crossed, realizes and meets the bow for flowing navigation to control.
Embodiment three：Illustrate present embodiment referring to Fig. 1 to Fig. 5, sub-aqua sport, which perceives subsystem 6, includes ocean current sensors
6-1, magnetic compass 6-2, depth gauge 6-3, ocean current sensors 6-1 shove information for collection, and magnetic compass 6-2 is used to gather orientation letter
Breath, depth gauge 6-3 are used for sampling depth information.
The present embodiment, streamlined portable remote underwater Renying stream navigation is with detecting and control method mainly for operation
The probe instructions of personnel, ocean current sensors 6-1 measures ocean current direction and Strength co-mputation meets the required bow of stream navigation to controlled quentity controlled variable, root
Thrust distribution is carried out according to controlled quentity controlled variable, distribution promotes mainly thrust and adjusts vertical rudder rudder angle, so as to ensure underwater robot with certain angle
Degree meets stream navigation in flow field, while for detection target and course angle, adjusts holder corner built in video camera, control video camera
Towards detection target.At the same time according to underwater environment and detection needs, distribute to two by thrust and hang down and push away that propeller is different to be pushed away
Stream voyage of discovery in top while power realizes the elevating movement of underwater robot, dive and floating, appoints so as to complete actual detection
Business.
Example IV：Illustrate present embodiment referring to Fig. 1 to Fig. 4, further include leakage sensor 10, for by the leakage of collection
Water information is uploaded to navigation control unit 4.
Fairing 1 shown in Fig. 1 uses class water-drop-shaped contour structures, is divided into fore body, parallel (middle) body and stern three
Point.Using the different semiellipsoid shape shell of curvature, parallel (middle) body part uses cylindrical shell, passes through for fore body, stern
Profile Design is smoothly connected three parts shell.
Carrier main frame 2 carries out structure design according to fairing, and the outer surface of carrier main frame 2 can be with covering shell
Covering, inner surface can fix pressure-resistant control cabinet and fix other plug-in devices.
Emulation experiment is carried out to a kind of streamlined portable remote underwater robot of the present invention, is obtained a series of
The surrounding fluid distribution of particles figure and direct route resistance table of underwater robot shell, referring specifically to table in Fig. 6.
The frictional resistance accounting of fairing is known that very up to 75% by the comparative analysis of the result of experiment,
And the form drag accounting of open-shelf shell is of a relatively high, 60% is constituted about.And the open-shelf shell under equal displacement of volume
Direct route resistance it is usually 2~5 times bigger than fairing resistance, i.e. the designing scheme of fairing significantly reduces under water
The form drag of robot, corresponding drag overall also significantly reduce.Therefore convection current volute casing is optimized and can shown
Write the navigation performance for improving underwater robot.
Claims (1)
- A kind of 1. portable streamlined remote underwater robot, it is characterised in that：Including carrier main frame, it is arranged on the main frame of carrier Fairing outside frame, the control cabinet being arranged in carrier main frame, the navigation control unit being arranged in control cabinet and more Passage motor control panel, underwater environment perceive with detection subsystem, sub-aqua sport perceive subsystem, propulsion with manipulate subsystem and Stepper motor driver, the fairing are formed using class water-drop-shaped contour structures, by fore body, parallel (middle) body and stern, Fore body, stern use cylindrical shell using the different semiellipsoid shape shell of curvature, parallel (middle) body part, promote and grasp Vertical subsystem promotes mainly propeller, is separately fixed at the forward and backward correspondence of control cabinet including being located at two of fairing stern both sides Carrier main frame on two two vertical rudders pushing away propeller, be vertically installed above and below fairing stern of hanging down The wing, underwater environment is perceived is used to gather the underwater wide of underwater picture with what detection subsystem included being arranged on fairing front end Angle video camera, be arranged in fairing fore body be used for gather underwater sonar Forward-looking Sonar, and Forward-looking Sonar is fixed on bow On carrier main frame corresponding to portion, stepper motor driver is fixed on the corresponding carrier main frame of fairing stern, Navigation control unit is communicated by cable with water surface console, is instructed, passed through according to current Ocean current information and navigation path The vertical rudder wing is engaged with the thrust distribution for promoting mainly propeller, can more stably be realized and be met the bow for flowing navigation to control；Further include Two horizontal stabilizers, and two horizontal stabilizers are symmetricly set on the arranged on left and right sides of fairing, and two water steadyings Determine the wing to be each attached on the carrier main frame corresponding to stern；Sub-aqua sport, which perceives subsystem, to be included being used to gather information of shoving Ocean current sensors, the magnetic compass for gathering azimuth information, the depth gauge for sampling depth information；Navigation control unit passes through Multichannel motor control panel controls two to promote mainly propeller and two and hang down and pushes away propeller, and navigation control unit is driven by stepper motor Dynamic device is driven two vertical rudder wings, ocean current sensors, magnetic compass, depth gauge, Forward-looking Sonar, built-in holder it is underwater wide The information that angle video camera is gathered is transmitted to navigation control unit；Under action of ocean current, navigation control unit is bow to gesture feedback using magnetic compass, current extra large with reference to ocean current sensors estimation Stream information；Navigation control unit to the stepper motor driver of the vertical rudder wing and two promote mainly propeller promote mainly send control refer to Order, by the vertical rudder wing and promotes mainly the orientation top stream navigation for coordinating and realizing under action of ocean current；During stream navigation is met, for work Industry task and current flight angle, control underwater environment perceive and the underwater wide angle cameras of the built-in holder of detection subsystem Rotation direction, navigation control unit automatically control adjustment built in holder corner, make video camera all the time towards detection target so that stream Linear ROV reliable navigation observation operations in the case where there is stream environment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710053777.8A CN106828838B (en) | 2017-01-24 | 2017-01-24 | A kind of portable streamlined remote underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710053777.8A CN106828838B (en) | 2017-01-24 | 2017-01-24 | A kind of portable streamlined remote underwater robot |
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| CN106828838A CN106828838A (en) | 2017-06-13 |
| CN106828838B true CN106828838B (en) | 2018-04-24 |
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| CN107585280A (en) * | 2017-10-12 | 2018-01-16 | 上海遨拓深水装备技术开发有限公司 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
| CN108100192A (en) * | 2017-11-24 | 2018-06-01 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of submersible stern part structure |
| CN107985536B (en) * | 2017-11-30 | 2020-07-07 | 吉林大学 | Submersible vehicle with space parallel mechanism vector propeller |
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| CN108333926B (en) * | 2018-01-19 | 2020-09-04 | 武汉理工大学 | Fixed angle thrust distribution method of dynamic positioning ship |
| CN108312151B (en) * | 2018-01-22 | 2020-02-07 | 哈尔滨工程大学 | Drift detection underwater robot device and control method |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| CN108408009A (en) * | 2018-05-13 | 2018-08-17 | 上海海洋大学 | A kind of intelligent submarine navigation device based on Raspberry Pi Raspberry Pi controllers |
| CN108974293A (en) * | 2018-06-04 | 2018-12-11 | 深圳潜行创新科技有限公司 | A kind of underwater vehicle |
| CN108528668A (en) * | 2018-06-05 | 2018-09-14 | 吉林大学 | A kind of multi power source underwater robot |
| CN111252216B (en) * | 2019-03-29 | 2021-01-29 | 南京涵铭置智能科技有限公司 | Anti-winding acquisition method of underwater acquisition robot |
| CN110758680B (en) * | 2019-12-30 | 2020-04-14 | 上海彩虹鱼海洋科技股份有限公司 | Underwater robot, platform for water area search and rescue and operation method thereof |
| CN111301646B (en) * | 2020-03-25 | 2021-11-09 | 哈尔滨工程大学 | Autonomous underwater robot for under-ice detection |
| CN111438691B (en) * | 2020-04-15 | 2023-02-03 | 哈尔滨工程大学 | Bionic six-foot robotic crab control system |
| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
| CN112835107A (en) * | 2020-12-31 | 2021-05-25 | 华中科技大学 | Submarine cable electromagnetic detection system and autonomous underwater robot equipment |
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| CN113928066A (en) * | 2021-11-24 | 2022-01-14 | 中国船舶科学研究中心 | Crawler-type polar region amphibious unmanned aircraft |
| CN114228900B (en) * | 2021-11-26 | 2024-05-17 | 青岛海安航行设备有限公司 | Small unmanned underwater vehicle easy to maintain |
| CN114802659B (en) * | 2022-03-21 | 2023-06-06 | 深之蓝海洋科技股份有限公司 | High-resistance underwater cabled robot and control method thereof |
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