CN112532947A - Distributed underwater full-automatic intelligent acquisition system - Google Patents
Distributed underwater full-automatic intelligent acquisition system Download PDFInfo
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- CN112532947A CN112532947A CN202011398405.7A CN202011398405A CN112532947A CN 112532947 A CN112532947 A CN 112532947A CN 202011398405 A CN202011398405 A CN 202011398405A CN 112532947 A CN112532947 A CN 112532947A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The invention relates to the field of underwater robot acquisition. The purpose is to provide a distributed underwater full-automatic intelligent acquisition system capable of meeting the deep sea acquisition requirement. The technical scheme is as follows: the utility model provides a full automatic intelligent acquisition system under distributing type which characterized in that: the system comprises a base station and a plurality of acquisition vehicles; the base station is provided with a signal transmitting tower, a base station charging port, a material collecting mechanism and a power supply; the collection vehicle is provided with a power mechanism, a crawler mechanism, a collection vehicle charging port, a camera, a collection claw, a battery, a communication module, a collection hopper and a collection vehicle charging port.
Description
Technical Field
The invention relates to the field of underwater robot acquisition, in particular to an underwater full-automatic intelligent acquisition system for acquiring underwater minerals in complex zones and conveying and storing distributed materials.
Background
The difficult problem of underwater material collection is how to collect minerals of different sizes respectively and how to realize the grabbing of materials with high precision under a complex terrain. The conventional underwater acquisition system is designed in such a way that deep-sea materials are acquired as soon as possible and the acquired minerals are transported to the water surface, and the method has the advantage that the operation of a single machine is simple and reliable. The defects are that multi-zone distribution high-efficiency collection cannot be carried out, and in turn, the adaptability of a collection system is poor, so that the design and the structure cannot meet the collection of complex terrains.
Nowadays, through a real-time cooperation mode of a multi-intelligent machine acquisition terminal, acquisition tasks can be directly distributed to different machines, so that the acquisition operation efficiency and the intelligent degree are greatly improved, and the acquisition time can be reduced; in large-scale collection projects, the high-efficiency collection system is also needed to ensure the collection precision and accuracy and realize the full automation of the collection system.
The underwater machine acquisition system needs very big adaptability and reliability, needs sufficient perfect collection system to realize that the material snatchs simultaneously, realizes effectively picking up and transporting of mineral through gathering suction means, to the collection in-process of a large amount of minerals, often can appear unable adaptation topography or the problem of mineral size.
The patent technology of publication No. CN109262578A, conceived for underwater collection vehicles, namely an underwater collecting vehicle, which comprises a vehicle frame, wherein a driving device fixing frame is fixed on the vehicle frame through a nut, the driving device fixing frame is a shell with a front opening and a rear opening, a plurality of openings are arranged on the side surface, a first box body and a second box body are fixed in the driving fixing frame through nuts, the first box body and the second box body are in a sealed state, a storage battery is arranged in the first box body, a first driving motor is arranged in the second box body, a rotating shaft of the first driving motor is arranged outside the second box body, a main propeller is arranged on a rotating shaft of the first driving motor, the other end of the rotating shaft is connected with a turning box, the interior of the turning box is sealed, the turning box is also provided with a rear wheel rotating shaft in a penetrating way, and the rotating shaft of the first driving motor drives the rear wheel rotating shaft. But the drawback of this kind of structure lies in, can't guarantee to the adaptability of complicated topography, can appear the unable circumstances of climbing to the topography that fluctuates greatly, adopts the wheel rolling's removal mode easily to appear the unable circumstances of climbing, and too lengthy and tortuous collection gripper can increase the time of gathering complicated mineral in addition, is unfavorable for quick efficient collection.
The patent technology of publication No. CN109878669A provides an underwater collection robot for preventing aquatic weeds from being wound and a collection method thereof, and skillfully utilizes five parts of a basic component, a driving component, a grabbing component and a telemetering component to realize that the underwater collection robot has abundant power, cannot be wound by submarine plants such as aquatic weeds and the like, and is reliable in operation. The structure is limited in the flexibility of the structure, because the driving assembly comprises six hidden blade propellers arranged at preset positions on the shell and two water storage cabins arranged inside the shell and positioned at the head and the tail of the shell, a certain number of blades are arranged on both the impeller and the guide blade, the collision probability of the fixed blade cascade and the movable blade cascade with fishes and shrimps is still not small, in addition, the grabbing assembly comprises a mechanical arm telescopically connected to one side of the undercarriage and a mechanical claw telescopically connected to one end of the mechanical arm, the grabbing assembly is not suitable for the situation of complex mineral appearance, and the medium with large concentration of fishes and shrimps is difficult to convey. At present, no ideal distributed acquisition system suitable for deep sea exists in China.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and provide a distributed underwater full-automatic intelligent acquisition system which can meet the deep sea acquisition requirement.
The technical scheme of the invention is as follows:
the utility model provides a full automatic intelligent acquisition system under distributing type which characterized in that: the system comprises a base station and a plurality of acquisition vehicles; the base station is provided with a signal transmitting tower, a base station charging port, a material collecting mechanism and a power supply; the collection vehicle is provided with a power mechanism, a crawler mechanism, a collection vehicle charging port, a camera, a collection claw, a battery, a communication module, a collection hopper and a collection vehicle charging port.
The collecting claw is a mechanical claw with a pneumatic suction mechanism.
The antenna is arranged on the top of the base station; the base station charging port is arranged on the side face of the base station.
The camera is arranged at the top of the collecting vehicle; and the camera is provided with a rotating mechanism.
The base station charging port and the collection vehicle charging port are provided with magnetic attraction mechanisms.
The outer part of the collecting vehicle is wrapped with a flexible buffer material layer.
The number of the collection vehicles is 2-10.
The invention has the beneficial effects that:
the invention provides a solution for a distributed high-adaptability deep sea collection system, which is characterized in that the core is to solve the problems encountered in deep sea collection, the distributed system is expanded from the consideration of corresponding structures and the efficiency of deep sea collection, a plurality of collection vehicles are distributed to work, each collection vehicle respectively corresponds to different tasks and areas, the collection vehicles can be provided with different collection claws, the targeted collection of minerals is realized, the collection vehicles adopt underwater tracks, the crossing of complex terrains can be realized, and the defect of low operation efficiency of the traditional single collection device is overcome; the invention also considers the characteristics of deep sea work, and provides a new scheme for deep sea wireless charging, so that on one hand, the charging efficiency can be ensured, on the other hand, the space used for charging can be reduced, and the electric energy loss of an underwater system can be reduced, thereby ensuring the design compactness.
Drawings
Fig. 1 is a schematic perspective view of a base station according to the present invention.
Fig. 2 is a schematic front view of a base station according to the present invention.
Fig. 3 is a schematic perspective view of the collection vehicle of the present invention.
Fig. 4 is a schematic front view of the collecting vehicle of the present invention.
Fig. 5 is a left side view schematic diagram of the collection vehicle of the present invention.
Fig. 6 is a schematic top view of the collection vehicle of the present invention.
Fig. 7 is a schematic diagram of an embodiment.
Detailed Description
The existing distributed acquisition device is mainly used for land operation, does not consider the possibility of acquiring and conveying minerals in deep sea, and is not suitable for being used in deep sea environment. The invention is derived from a land distributed acquisition device, is a distributed acquisition system, and has the characteristics of strong acquisition pertinence, good performance, good balance, stable operation and high reliability. The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following examples.
A distributed underwater full-automatic intelligent acquisition system comprises a base station 1 and an acquisition vehicle 2.
The base station is provided with a signal transmitting tower 1.1, a base station charging port 1.2, a material collecting mechanism and a power supply. The material collecting mechanism of the base station is used for storing minerals collected by the collecting vehicle. And 3 signal transmitting towers are arranged on the base station and used for communicating with the acquisition vehicle and sending an acquisition command to the acquisition vehicle to realize automatic task allocation. The inside high density energy battery that is equipped with of basic station for charge simultaneously to a plurality of collection cars, the basic station mouth that charges is equipped with magnetism and inhales the mechanism, can inhale the mode of formula through wireless magnetism and charge to the collection car, ensures to charge safe and reliable more under water, and the charging voltage can be adjusted according to the surplus electric quantity of gathering the car battery to the basic station mouth that charges simultaneously, has improved charge efficiency greatly. The base station charging port is further designed to be waterproof, when the base station charging port is connected with the collecting vehicle charging port, wireless charging can be achieved immediately, and the problem of water pressure does not need to be worried in the deep sea collecting process. Because the charging port of the base station is provided with the magnetic attraction mechanism, the attraction of the charging port can be automatically controlled, the charging can be completely controlled by a program, and the full automation is realized. Wireless charging is achieved through an electromagnetic induction power transmission (ICPT) technology, a magnetic field is used as a medium, a separable transformer is used for coupling, current is generated through induction of a primary coil and a secondary coil, electric energy can be transmitted through a thick non-metal material, and therefore the energy is transferred from a transmission end to a receiving end, and electric energy transmission without electrical connection is achieved. The electromagnetic induction transmission power is large and can reach hundreds of kilowatts, and the upper limit of the transmission distance is about 10 cm.
The collection vehicle is provided with a power mechanism, a crawler mechanism 2.1, a collection vehicle charging port 2.2, a camera 2.3, a collection claw, a battery, a communication module and a collection hopper. In order to improve the mineral grabbing capacity, the mechanical claw with the pneumatic suction mechanism is adopted by the collecting claw, namely the pneumatic suction can be generated inside the mechanical claw, the mechanical claw can rotate around the mechanical claw, the height can be controlled, and the complex mineral can be grabbed accurately. Gather the top of car and be equipped with the camera and be used for visual identification, be equipped with rotary mechanism on the camera, can drive 360 degrees rotations of camera, realize diversified mineral detection. The collection car is provided with a collection hopper, so that distributed storage of materials is realized. The collection vehicle is provided with a high-energy battery, so that the collection vehicle can independently work for about 10 hours. The crawler mechanisms are a pair of underwater crawlers (driven by a power mechanism) arranged on two sides of the acquisition side, and can realize the crossing of complex terrains. Considering that fishes and shrimps can collide with the inlet edge of the crawler belt after entering the crawler belt, the inlet of the crawler belt adopts a fillet design. The appearance of collection car adopts streamlined design, accords with the fluid dynamics principle, but difficult emergence low intensity collision when the complicated topography work in seabed, consequently the outside of collection car has still wrapped up flexible buffer material layer. The collection vehicle adopts high-strength and high-cost materials as the vehicle frame, for example, the aluminum alloy with the coating coated on the surface can reduce the water flow resistance and buffer the impact. The communication module is used for communication. The collection vehicle charging port is provided with a magnetic attraction mechanism.
The number of the collecting vehicles is generally 2-10, the collecting vehicles are combined to collect, the collecting efficiency is effectively improved, and the collecting vehicles can collect minerals in a full-automatic mode and can also be manually controlled. The base station transmits signals through the signal transmitting tower and the communication module of the collecting vehicle, the collecting vehicle collects materials and then puts the materials into the base station, and meanwhile, the materials are charged, so that the collecting work efficiency is improved.
The examples are preferred embodiments of the present invention, but are not limited to the above-described manner, and any obvious improvement, replacement or modification by those skilled in the art within the spirit of the present invention shall fall within the scope of the present invention.
Claims (7)
1. The utility model provides a full automatic intelligent acquisition system under distributing type which characterized in that: the system comprises a base station (1) and a plurality of acquisition vehicles (2); the base station is provided with a signal transmitting tower (1.1), a base station charging port (1.2), a material collecting mechanism and a power supply; the collection vehicle is provided with a power mechanism, a crawler mechanism (2.1), a collection vehicle charging port (2.2), a camera (2.3), a collection claw, a battery, a communication module, a collection hopper and a collection vehicle charging port.
2. The distributed underwater full-automatic intelligent acquisition system according to claim 1, characterized in that: the collecting claw is a mechanical claw with a pneumatic suction mechanism.
3. The distributed underwater full-automatic intelligent acquisition system according to claim 2, characterized in that: the antenna is arranged on the top of the base station; the base station charging port is arranged on the side face of the base station.
4. The distributed underwater full-automatic intelligent acquisition system according to claim 3, characterized in that: the camera is arranged at the top of the collecting vehicle; and the camera is provided with a rotating mechanism.
5. The distributed underwater fully automated intelligent acquisition system of claim 4, further comprising: the base station charging port and the collection vehicle charging port are provided with magnetic attraction mechanisms.
6. The distributed underwater full-automatic intelligent acquisition system according to claim 5, characterized in that: the outer part of the collecting vehicle is wrapped with a flexible buffer material layer.
7. The distributed underwater full-automatic intelligent acquisition system according to claim 6, characterized in that: the number of the collection vehicles is 2-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011398405.7A CN112532947A (en) | 2020-12-04 | 2020-12-04 | Distributed underwater full-automatic intelligent acquisition system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011398405.7A CN112532947A (en) | 2020-12-04 | 2020-12-04 | Distributed underwater full-automatic intelligent acquisition system |
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| CN112532947A true CN112532947A (en) | 2021-03-19 |
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| CN202011398405.7A Withdrawn CN112532947A (en) | 2020-12-04 | 2020-12-04 | Distributed underwater full-automatic intelligent acquisition system |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014180590A1 (en) * | 2013-05-06 | 2014-11-13 | Atlas Elektronik Gmbh | System and method for seafloor exploration |
| CN105179876A (en) * | 2015-05-12 | 2015-12-23 | 徐鹏飞 | Seabed anchoring type deepwater oil and gas pipeline inspection system |
| CN108171948A (en) * | 2017-12-08 | 2018-06-15 | 北京臻迪科技股份有限公司 | A kind of underwater robot base station and underwater robot system |
| CN208085978U (en) * | 2018-02-02 | 2018-11-13 | 上海交通大学 | One kind can the multi-functional underwater robot of suspension crawler type |
| CN109842190A (en) * | 2019-01-17 | 2019-06-04 | 同济大学 | Underwater robot seabed wireless charging docking system |
| WO2019148943A1 (en) * | 2018-02-02 | 2019-08-08 | 上海交通大学 | Suspendable crawler-type underwater operations robot for extremely soft ground |
| CN209717733U (en) * | 2019-04-16 | 2019-12-03 | 大连贝格数据有限公司 | A kind of underwater desilting machine people positioning and environment sensing acquisition device |
| CN111561319A (en) * | 2020-06-12 | 2020-08-21 | 长沙矿冶研究院有限责任公司 | Multifunctional seafloor mining system |
| CN111874192A (en) * | 2020-08-05 | 2020-11-03 | 青岛理工大学 | Internet of things underwater operation system |
-
2020
- 2020-12-04 CN CN202011398405.7A patent/CN112532947A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014180590A1 (en) * | 2013-05-06 | 2014-11-13 | Atlas Elektronik Gmbh | System and method for seafloor exploration |
| CN105179876A (en) * | 2015-05-12 | 2015-12-23 | 徐鹏飞 | Seabed anchoring type deepwater oil and gas pipeline inspection system |
| CN108171948A (en) * | 2017-12-08 | 2018-06-15 | 北京臻迪科技股份有限公司 | A kind of underwater robot base station and underwater robot system |
| CN208085978U (en) * | 2018-02-02 | 2018-11-13 | 上海交通大学 | One kind can the multi-functional underwater robot of suspension crawler type |
| WO2019148943A1 (en) * | 2018-02-02 | 2019-08-08 | 上海交通大学 | Suspendable crawler-type underwater operations robot for extremely soft ground |
| CN109842190A (en) * | 2019-01-17 | 2019-06-04 | 同济大学 | Underwater robot seabed wireless charging docking system |
| CN209717733U (en) * | 2019-04-16 | 2019-12-03 | 大连贝格数据有限公司 | A kind of underwater desilting machine people positioning and environment sensing acquisition device |
| CN111561319A (en) * | 2020-06-12 | 2020-08-21 | 长沙矿冶研究院有限责任公司 | Multifunctional seafloor mining system |
| CN111874192A (en) * | 2020-08-05 | 2020-11-03 | 青岛理工大学 | Internet of things underwater operation system |
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Application publication date: 20210319 |
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