CN114426085A - Intelligent diving following robot, following system and following method - Google Patents
Intelligent diving following robot, following system and following method Download PDFInfo
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- CN114426085A CN114426085A CN202210128167.0A CN202210128167A CN114426085A CN 114426085 A CN114426085 A CN 114426085A CN 202210128167 A CN202210128167 A CN 202210128167A CN 114426085 A CN114426085 A CN 114426085A
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- 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
- B63C11/02—Divers' equipment
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- 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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention discloses an intelligent diving following robot, a following system and a following method, which belong to the technical field of underwater rescue, and the intelligent diving following robot comprises a shell, a first communication port and a second communication port which are positioned at the front side and the rear side of the shell, a water pump which is positioned in the shell, and the following system also comprises: the flow control cylinder is used for changing the water flow direction in the first communicating port and the second communicating port, the first communicating port is communicated with the flow control cylinder through a first pipeline, and the second communicating port is communicated with the flow control cylinder through a second pipeline; the water pump is used for conveying water outside the shell to the flow control cylinder for discharging, and further driving the shell to move; through the rivers that flow in first intercommunication mouth and the second intercommunication mouth, realize that drive robot removes, cancelled the screw, and then the effectual diver dive in-process of having avoided to and the rescue in-process when unexpected the emergence, the screw accidentally injures diver's potential hidden danger.
Description
Technical Field
The invention relates to the technical field of underwater rescue, in particular to an intelligent diving following robot, a following system and a following method.
Background
Since the new century, scientific technology is rapidly developed, the demand for resources is increasing, the scientific and technical level for developing space resources is still immature with the depletion of land resources, and people have turned their eyes to underwater resources such as oceans and large lakes, and more development projects are developed for underwater resources such as oceans and large lakes.
Before underwater resources such as oceans, large lakes and the like are developed, divers need to be dispatched to actually survey without knowing the actual underwater environment, but the divers are full of uncertainty in the underwater surveying process due to the fact that the underwater environment is unknown, so that accidents are easy to occur to the divers, and the life health of the divers is endangered.
Therefore, the diver when diving, for the safety consideration, need have a diving robot, accompany near the diver, monitor the diver's actual conditions constantly, and when unexpected appearing, in time rescue, however, current diving robot on the existing market, the drive mode adopts screw drive mostly, at the diver dive in-process, and the rescue in-process when unexpected taking place, the diver is hindered very easily to pivoted screw, has very big potential safety hazard.
Disclosure of Invention
The invention aims to solve the problems that a diver is easily injured by a rotating propeller in the diving process and the rescuing process in the accident occurrence process of the diver in the prior art, and provides an intelligent diving following robot, a following system and a following method.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an intelligence dive is followed robot, includes the casing, is located the first intercommunication mouth and the second intercommunication mouth of both sides around the casing, is located the water pump in the casing, still includes: the flow control cylinder is used for changing the water flow direction in the first communicating port and the second communicating port, the first communicating port is communicated with the flow control cylinder through a first pipeline, and the second communicating port is communicated with the flow control cylinder through a second pipeline; the water pump is used for conveying water outside the shell to the flow control cylinder for discharging, and further driving the shell to move; the infrared camera is connected to the side wall of the shell and used for monitoring the state of the diver; fixed connection is at the robotic arm of casing lateral wall, and fixed connection is at the hook of robotic arm output, the hook is used for hooking the diver.
In order to change the water flow direction in the first communicating port and the second communicating port, the flow control device preferably further comprises a first hollow cover and a second hollow cover which are fixedly connected to the side wall of the flow control cylinder, wherein the first hollow cover and the second hollow cover are both in two groups and are both communicated with the inner cavity of the flow control cylinder; the first cutoff block is connected in the first hollow cover in a sliding manner, and the second cutoff block is connected in the second hollow cover in a sliding manner; the shell is also internally provided with a control mechanism which can control the first interception block or the second interception block to lead the inner cavity of the flow control cylinder to be conducted or closed; the second pipeline is communicated with one end of the flow control barrel, the first pipeline is communicated with the middle part of the flow control barrel, and one end of the flow control barrel, which is far away from the second pipeline, is communicated with the second pipeline through a fifth pipeline; the input end of the water pump is communicated with the flow control barrel through a fourth pipeline, and the output end of the water pump is communicated with the flow control barrel through a third pipeline; one of the two second intercepting blocks is positioned between the third pipeline and the first pipeline, and the other one of the two second intercepting blocks is positioned between the fourth pipeline and one end, close to the second pipeline, of the fifth pipeline; and one of the two first cutoff blocks is positioned between the first pipeline and the fourth pipeline, and the other one of the two first cutoff blocks is positioned between the third pipeline and one end of the fifth pipeline, which is far away from the second pipeline.
In order to drive the first cutoff block and the second cutoff block to move, preferably, the control mechanism comprises a first motor positioned in the shell, and a first rotating shaft rotatably connected in the shell; the first threaded sleeve is rotatably connected to the first hollow cover, and the first threaded rod is fixed on the first cutoff block and extends out of the first hollow cover and is in threaded connection with the first threaded sleeve; a second threaded sleeve connected to the second hollow cover in a rotating manner, and a second threaded rod fixed to the second closure block, wherein the second threaded rod extends out of the second hollow cover and is in threaded connection with the second threaded sleeve; be connected with first belt between first thread bush and the first pivot, be connected with the second belt between second thread bush and the first pivot, first motor drive first pivot is rotated.
In order to monitor the state of the diver in real time, preferably, the top of the shell is rotatably connected with a second rotating shaft, one end of the second rotating shaft, which extends out of the shell, is fixedly connected with a platform, and the infrared camera is fixed on the platform; the first straight device and the second straight device are fixed on the inner wall of the top of the shell, the second gear is rotatably connected to the output end of the first straight device, and the third gear is rotatably connected to the output end of the second straight device; the first gear is fixedly connected to the output end of the first motor, the seventh gear is fixedly connected to the first rotating shaft, and the second gear is separable from and can be meshed with the first gear and the seventh gear; and the sixth gear is fixedly connected with one end of the second rotating shaft extending into the shell, and the third gear is separable and engageable with the first gear and the sixth gear.
In order to improve the reliability of rescue, the rescue device preferably further comprises a swinging base capable of swinging up and down in the shell, a third rotating shaft rotating on the swinging base, a fourth gear and a crankshaft fixed on the third rotating shaft, and a fifth gear fixedly connected to the output end of the first motor; the bottom of the frame body is rotatably connected with a third rotating shaft, the piston assembly is fixed on the frame body, and the crankshaft is rotatably connected with the piston assembly; the top of the frame body is provided with a sliding chute, a third straight device fixed in the shell and a sliding block sliding in the sliding chute, and the output end of the third straight device is rotatably connected with the sliding block; the pressure cavity is fixedly connected to the output end of the robot arm, the push plate slides in the pressure cavity, the anti-falling rod is fixed on the side wall of the push plate and extends out of the pressure cavity, and the claw is provided with an anti-falling groove matched with the anti-falling rod; the piston assembly is communicated with the pressure cavity through a seventh pipeline, and one-way valves are arranged in the sixth pipeline and the seventh pipeline.
In order to fix the diver at the top of the shell, the diver-fixing device is preferable, and the diver-fixing device further comprises two groups of second motors which are arranged at the top of the shell and symmetrically designed, wherein the output ends of the second motors are fixedly connected with auxiliary rods.
In order to charge the electric equipment, the electric equipment preferably further comprises a storage battery positioned in the shell, and a partition board is arranged on the outer side wall of the storage battery; the bottom of the shell is provided with a slide way, a slide plate is inserted in the slide way, and a wireless charging plate is arranged on the slide plate; the wireless charging plate is connected with the storage battery through a lead.
In order to communicate with the outside, the robot communication relay station is preferably further included in the housing, and receives and amplifies signals in a wireless manner.
An intelligent diving following system is provided,
the ground communication relay station is used for receiving the wireless signals amplified by the robot communication relay station; the diver terminal can acquire physiological data of a diver and send the data to the robot communication relay station in a wireless mode; the diver terminal is also provided with a wireless charging module, the wireless charging module is used for carrying out electromagnetic induction interaction with the wireless charging panel to realize wireless charging to the diver terminal.
An intelligent diving following method comprises the following steps:
firstly, the infrared camera collects the position information of a diver in real time, and drives the shell to move through water flows in the first communicating port and the second communicating port so as to follow the diver; the flow direction of water in the first communicating port and the second communicating port is changed through the flow control cylinder, and the moving direction of the shell is further adjusted; then, physiological data of a diver are collected through a diver terminal and are sent to the robot communication relay station in a wireless mode, then wireless signals are amplified through the robot communication relay station, and state data of the diver are transmitted to the ground communication relay station; and finally, when the diver is found to be abnormal, the diver is rescued through the mechanical arm and the claw.
And the diver can also charge the diver terminal through the wireless charging panel in the diving process.
Compared with the prior art, the invention provides an intelligent diving following robot, a following system and a following method, and the following robot, the following system and the following method have the following beneficial effects:
1. this robot is followed in intelligence dive through the rivers that flow in first intercommunication mouth and the second intercommunication mouth, realizes that drive robot removes, has cancelled the screw, and then the effectual diver dive in-process of having avoided to and the in-process of suing and labouring when the accident takes place, the screw accidentally injures diver's potential hidden danger.
2. This robot is followed in intelligence dive through first motor, drives first damming piece and second and damming the piece and remove, and then can the flow direction of the interior rivers of first intercommunication mouth of effective control and second intercommunication mouth, adjustment moving direction to and mutually support through first motor and third craspedodrome device, carry the pressure chamber with water in, promote the anticreep pole and remove, prevent effectively that the ring on the diver's body from breaking away from the hook, the reliability of rescue promotes greatly.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent diving following robot provided by the invention;
fig. 2 is an enlarged view of a portion a in fig. 1 of an intelligent diving following robot according to the present invention;
fig. 3 is a schematic partial structure diagram of an intelligent diving following robot provided by the invention;
fig. 4 is a schematic structural diagram of an intelligent diving following robot flow control barrel provided by the invention;
fig. 5 is a schematic structural diagram of an intelligent diving following robot frame body according to the present invention;
FIG. 6 is a schematic structural diagram of an auxiliary rod of an intelligent diving following robot provided by the invention;
fig. 7 is a schematic flow chart of an intelligent diving following system according to the present invention.
In the figure: 1. a housing; 101. a flow control cylinder; 102. a first conduit; 103. a first communication port; 104. a second conduit; 105. a second communication port; 2. a water pump; 201. a third pipeline; 202. a fourth pipe; 203. a fifth pipeline; 3. a first hollow housing; 301. a first cutoff block; 302. a first threaded sleeve; 303. a first threaded rod; 304. a first belt; 4. a second hollow housing; 401. a second cutoff block; 402. a second threaded sleeve; 403. a second threaded rod; 404. a second belt; 5. a first motor; 501. a first gear; 502. a first straight device; 503. a second gear; 504. a first rotating shaft; 505. a seventh gear; 6. a second straight device; 601. a third gear; 602. a second rotating shaft; 603. a sixth gear; 604. a platform; 605. an infrared camera; 7. a robot arm; 701. a hook claw; 8. a swing base; 801. a third rotating shaft; 802. a fourth gear; 803. a fifth gear; 9. a frame body; 901. a piston assembly; 902. a crankshaft; 903. a third straight device; 904. a chute; 905. a slider; 10. a water inlet; 1001. a sixth pipeline; 1002. a seventh pipe; 1003. a pressure chamber; 1004. pushing the plate; 1005. an anti-drop rod; 1006. a drop-proof groove; 11. a second motor; 1101. an auxiliary lever; 12. a storage battery; 1201. a partition plate; 13. a slideway; 1301. a slide plate; 1302. a wireless charging pad; 1303. a wire; 14. a robot communication relay station.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1:
referring to fig. 1-6, an intelligence dive is followed robot, includes casing 1, is located casing 1 front and back both sides first intercommunication mouth 103 and second intercommunication mouth 105, is located the water pump 2 of casing 1, still includes: the flow control cylinder 101 is used for changing the water flow direction in the first communication port 103 and the second communication port 105, the first communication port 103 is communicated with the flow control cylinder 101 through the first pipeline 102, the second communication port 105 is communicated with the flow control cylinder 101 through the second pipeline 104, and filter screens are arranged in the first communication port 103 and the second communication port 105 to prevent foreign matters in water from entering.
The water pump 2 is used for conveying water outside the housing 1 to the flow control cylinder 101 for discharging, further driving the housing 1 to move, starting the water pump 2, changing the water flow direction in the first communication port 103 and the second communication port 105 through the flow control cylinder 101, and adjusting the moving direction.
Connect the infrared camera 605 that is used for monitoring the diver's state at casing 1 lateral wall, through infrared camera 605, real-time supervision diver's situation when the discovery has unusually, for example diver's body temperature reduces fast, or when the action is slow or acutely struggled, explains that the diver needs to be rescued.
The mechanical arm 7 of fixed connection at the casing 1 lateral wall, the hook 701 of fixed connection at the 7 output ends of mechanical arm, hook 701 are used for hooking the diver, and the diver is fixed with a ring on one's body, when the rescue, through the hook 701 of 7 output ends of mechanical arm, hook the ring, then pull it back on the bank.
In the process of following the diver, one absorbs water to generate a negative acting force in water and one discharges water to generate a thrust through the first communication port 103 and the second communication port 105, thereby driving the housing 1 to move.
The propeller driving is cancelled, and therefore the phenomenon that a diver is accidentally injured by the propeller in the following process or the rescue process is avoided.
Example 2:
referring to fig. 1-6, on the basis of example 1, further,
the flow control device is characterized by further comprising a first hollow cover 3 and a second hollow cover 4 which are fixedly connected to the side wall of the flow control cylinder 101, wherein the first hollow cover 3 and the second hollow cover 4 are both of two sets of designs and are communicated with the inner cavity of the flow control cylinder 101.
The first flow-stopping block 301 is slidably connected in the first hollow cover 3, and the first flow-stopping block 301 can move into the inner cavity of the flow control cylinder 101 to stop water flow.
And the second flow interception block 401 is connected in the second hollow cover 4 in a sliding manner, and the second flow interception block 401 can move into the inner cavity of the flow control cylinder 101 so as to intercept water flow.
The shell 1 is also internally provided with a control mechanism which can control the first interception block 301 or the second interception block 401 to enable the inner cavity of the flow control cylinder 101 to be conducted or closed.
When the first block 301 is located in the cavity of the flow control cylinder 101 and the second block 401 is located in the second hollow cover 4, as shown in fig. 1, the second communication port 105 sucks water, the first communication port 103 discharges water, and the housing 1 moves toward the second communication port 105.
When the first block 301 is positioned in the first hollow cover 3 and the second block 401 is positioned in the cavity of the flow control cylinder 101, as shown in fig. 4, the second communication port 105 discharges water, the first communication port 103 absorbs water, and the housing 1 moves toward the first communication port 103.
The second pipeline 104 is communicated with one end of the flow control cylinder 101, the first pipeline 102 is communicated with the middle of the flow control cylinder 101, one end, far away from the second pipeline 104, of the flow control cylinder 101 is communicated with the second pipeline 104 through a fifth pipeline 203, the input end of the water pump 2 is communicated with the flow control cylinder 101 through a fourth pipeline 202, and the output end of the water pump 2 is communicated with the flow control cylinder 101 through a third pipeline 201.
Two second intercepting blocks 401, one between the third pipe 201 and the first pipe 102 and the other between the fourth pipe 202 and the end of the fifth pipe 203 close to the second pipe 104, two first intercepting blocks 301, one between the first pipe 102 and the fourth pipe 202 and the other between the third pipe 201 and the end of the fifth pipe 203 far from the second pipe 104.
When the first interception block 301 is located in the inner cavity of the flow control cylinder 101 and the second interception block 401 is located in the second hollow cover 4, as shown in fig. 1, the water pump 2 is started, and water flows into the second pipeline 104 through the second communication port 105, then enters the fourth pipeline 202, then enters the third pipeline 201 through the water pump 2, then enters the first pipeline 102 through the inner cavity of the flow control cylinder 101, and finally is sprayed out from the first communication port 103.
When the first interception block 301 is located in the first hollow cover 3 and the second interception block 401 is located in the inner cavity of the flow control cylinder 101, as shown in fig. 4, the water pump 2 is started, water flows into the first pipeline 102 through the first communication port 103, then enters the inner cavity of the flow control cylinder 101, then enters the fourth pipeline 202, then enters the third pipeline 201 through the water pump 2, then enters the fifth pipeline 203 through the inner cavity of the flow control cylinder 101, then enters the second pipeline 104, and finally is sprayed out from the second communication port 105.
Example 3:
referring to fig. 1-6, on the basis of example 2, further,
the embodiment discloses a control mechanism, which comprises a first motor 5 positioned in a shell 1, a first rotating shaft 504 rotatably connected in the shell 1; a first threaded sleeve 302 connected to the first hollow housing 3 in a rotating manner, and a first threaded rod 303 fixed to the first cutoff block 301, wherein the first threaded rod 303 extends out of the first hollow housing 3 and is in threaded connection with the first threaded sleeve 302.
A second threaded sleeve 402 connected to the second hollow housing 4 is rotated, and a second threaded rod 403 fixed to the second shut-off block 401 is extended out of the second hollow housing 4 and is in threaded connection with the second threaded sleeve 402.
A first belt 304 is connected between the first threaded sleeve 302 and the first rotating shaft 504, a second belt 404 is connected between the second threaded sleeve 402 and the first rotating shaft 504, and the first motor 5 drives the first rotating shaft 504 to rotate.
The first motor 5 is started, the first motor 5 rotates forward, the first motor 5 drives the first rotating shaft 504 to rotate, the first rotating shaft 504 drives the first thread bushing 302 to rotate through the first belt 304, and the second thread bushing 402 is driven to rotate through the second belt 404.
As shown in fig. 1, when the first thread bushing 302 rotates, the first thread rod 303 drives the first cutoff block 301 to move and enter the cavity of the flow control cylinder 101 to cut off water flow, and when the second thread bushing 402 rotates, the second cutoff block 401 is driven to move and enter the second hollow cover 4 in the same way, so that the cavity of the flow control cylinder 101 is communicated.
When the water flow direction of the first communication port 103 and the second communication port 105 needs to be changed, the first motor 5 rotates reversely, as shown in fig. 4, at this time, the first interception block 301 enters the first hollow cover 3, and the second interception block 401 enters the cavity of the flow control cylinder 101.
First threaded shaft 303 and second threaded shaft 403 are oppositely threaded.
The horizontal cross sections of the first interception block 301 and the second interception block 401 are non-circular, so that the first interception block 301 and the second interception block 401 are prevented from rotating during the movement of the first interception block 301 and the second interception block 401.
The control mechanism can also be replaced by an electric telescopic rod, and the output end of the electric telescopic rod directly pushes the first intercepting block 301 and the second intercepting block 401 to move.
Example 4:
referring to fig. 1, on the basis of embodiment 3, further,
the top of the housing 1 is rotatably connected with a second rotating shaft 602, the second rotating shaft 602 extends out of one end of the housing 1 and is fixedly connected with a platform 604, the infrared camera 605 is fixed on the platform 604, and the joint of the second rotating shaft 602 and the housing 1 is sealed and does not leak water.
The device also comprises a first straight-moving device 502 and a second straight-moving device 6 which are fixed on the inner wall of the top of the shell 1, a second gear 503 which is rotationally connected with the output end of the first straight-moving device 502, and a third gear 601 which is rotationally connected with the output end of the second straight-moving device 6; a first gear 501 fixedly connected to the output end of the first motor 5, a seventh gear 505 fixedly connected to the first rotating shaft 504, the second gear 503 is detachably engageable with the first gear 501 and the seventh gear 505 and is a helical gear, a sixth gear 603 fixedly connected to one end of the second rotating shaft 602 extending into the housing 1, and the third gear 601 is detachably engageable with the first gear 501 and the sixth gear 603 and is a helical gear.
When the first rotating shaft 504 needs to be driven to rotate, when the moving direction is adjusted, the first straight device 502 is started, the second gear 503 is meshed with the first gear 501 and the seventh gear 505, the first motor 5 is started, the first rotating shaft 504 is driven to rotate by the first motor 5 through the first gear 501, the second gear 503 and the seventh gear 505, and when the first straight device 502 is adjusted, the second gear 503 is separated from the first gear 501 and the seventh gear 505.
When the detection angle of the infrared camera 605 needs to be adjusted, the second rectilinear motion device 6 is started in the same manner, and then the second rectilinear motion device 6 is retracted after the adjustment is completed.
The first rectilinear motion device 502 and the second rectilinear motion device 6 may be linear motors, and gears rotate at output ends of the linear motors, or electric telescopic rods, and gears rotate at output ends of the electric telescopic rods.
Example 5:
referring to fig. 1-6, on the basis of example 4, further,
the swing mechanism comprises a shell 1, a swing base 8 capable of swinging up and down, a third rotating shaft 801 rotating on the swing base 8, a fourth gear 802 and a crankshaft 902 fixed on the third rotating shaft 801, a fifth gear 803 fixedly connected to the output end of a first motor 5, a frame body 9 capable of moving up and down in the shell 1, the bottom of the frame body 9 is rotatably connected with the third rotating shaft 801, a piston assembly 901 fixed on the frame body 9, and the crankshaft 902 is rotatably connected with the piston assembly 901.
The piston assembly 901 includes a piston cylinder, a piston plate slidably connected within the piston cylinder, and a piston rod rotatably connected to the piston plate.
The crankshaft 902 is rotationally connected with the piston assembly 901, that is, one end of the piston rod away from the piston plate is sleeved on the crankshaft 902, similar to the cooperation among the crankshaft 902, the piston rod and the piston cylinder in the internal combustion engine.
The top of the frame body 9 is provided with a sliding groove 904, a third rectilinear motion device 903 fixed in the housing 1, and a sliding block 905 sliding in the sliding groove 904, wherein the output end of the third rectilinear motion device 903 is rotatably connected with the sliding block 905.
The pressure cavity 1003 fixedly connected to the output end of the robot arm 7, the push plate 1004 sliding in the pressure cavity 1003, the anti-falling rod 1005 fixed to the side wall of the push plate 1004 and extending out of the pressure cavity 1003, and the claw 701 is provided with an anti-falling groove 1006 matched with the anti-falling rod 1005. The top of the shell 1 is provided with a water inlet 10, the water inlet 10 is communicated with the piston assembly 901 through a sixth pipeline 1001, the piston assembly 901 is communicated with the pressure cavity 1003 through a seventh pipeline 1002, and the sixth pipeline 1001 and the seventh pipeline 1002 are both internally provided with a one-way valve.
When a diver is rescued, after the circular ring is hooked by the claw 701, the third straight-moving device 903 is started, the frame body 9 pushes the third rotating shaft 801 to rotate downwards until the fourth gear 802 is meshed with the fifth gear 803, and then the third rotating shaft is stopped rotating downwards, at this time, the first motor 5 drives the third rotating shaft 801 to rotate by the fifth gear 803 and the fourth gear 802, and then the piston assembly 901 is driven by the crankshaft 902 to move, and the piston assembly 901 moves, namely, the piston rod drives the piston plate to slide in the piston cylinder in a reciprocating manner, so that outside water is conveyed into the pressure cavity 1003 through the water inlet 10, the sixth pipeline 1001 and the seventh pipeline 1002, and the push plate 1004 is pushed into the anti-falling groove 1006 to prevent the circular ring from falling off.
The lateral wall of the pressure cavity 1003 close to one side of the seventh pipeline 1002 is provided with a pressure relief pipe, and after rescue is finished, liquid in the pressure cavity 1003 is discharged through the pressure relief pipe.
The check valve in the sixth pipe 1001 allows water to flow only into the piston cylinder through the sixth pipe 1001, but not to flow out in the reverse direction.
The one-way valve in the seventh pipe 1002 allows water to flow into the seventh pipe 1002 through the piston cylinder, and not to flow out in the reverse direction.
After the push plate 1004 enters the anti-slip groove 1006, the third straight component 903 is retracted, and the fourth gear 802 and the fifth gear 803 are separated.
A filter screen is arranged in the water inlet 10 to prevent foreign matters from entering.
The third rectilinear motion device 903 may be a linear motor, and the slider 905 rotates at an output end of the linear motor, or may be an electric telescopic rod, and the slider 905 rotates at an output end of the electric telescopic rod.
Example 6:
referring to fig. 1-6, on the basis of example 5, further,
still including being located casing 1 top, and two sets of second motors 11 of symmetrical design, the equal fixedly connected with auxiliary rod 1101 of the output of every group second motor 11.
When the diver is hooked through the claw 701 at robotic arm 7, then through robotic arm 7, remove the diver to casing 1 top, start second motor 11, make the auxiliary rod 1101 of both sides inwards rotate simultaneously, press on the diver, make it when dragging the diver back to the bank, prevent that the diver from rocking, the accident appears.
The number of the auxiliary levers 1101 at the output end of each second motor 11 is 3 to 7.
Example 7:
referring to fig. 1-6, on the basis of example 6, further,
the device also comprises a storage battery 12 positioned in the shell 1, a partition plate 1201 is arranged on the side wall of the outer side of the storage battery 12, and the storage battery 12 can supply power to all electric equipment in the shell 1.
The bottom of the shell 1 is provided with a slide way 13, a sliding plate 1301 is inserted in the slide way 13, a wireless charging plate 1302 is arranged on the sliding plate 1301, and the wireless charging plate 1302 is connected with the storage battery 12 through a lead 1303.
When the power of the terminal device on the diver is insufficient, the diver can pull out the wireless charging pad 1302 to charge the terminal device on the diver.
The separator 1201 effectively prevents water from entering the battery 12.
The robot communication relay station 14 is positioned in the shell 1, receives and amplifies signals in a wireless mode, and transmits the state of a diver to a ground communication relay station on the ground through the robot communication relay station 14.
Example 8:
referring to fig. 1-7, based on example 7, further,
an intelligent diving following system further comprises a ground communication relay station, wherein the ground communication relay station is used for receiving a wireless signal amplified by a robot communication relay station 14 and processing and analyzing the signal; the diver terminal can acquire physiological data of a diver and send the data to the robot communication relay station 14 in a wireless mode, and then the physiological data of the diver is monitored in real time through the robot communication relay station 14; the diver terminal still is equipped with wireless charging module, and wireless charging module is used for carrying out the wireless charging of electromagnetic induction interaction realization to the diver terminal with wireless charging panel 1302, prevents that the diver terminal electric energy is not enough.
Example 9:
referring to fig. 1-7, on the basis of example 8, further,
an intelligent diving following method comprises the following steps:
firstly, the infrared camera 605 collects the position information of the diver in real time, and drives the shell 1 to move through water flows in the first communication port 103 and the second communication port 105 so as to follow the diver; the water flow directions in the first communication port 103 and the second communication port 105 are changed through the flow control cylinder 101, so that the moving direction of the shell 1 is adjusted, the design of a propeller is cancelled, and the diver is prevented from being accidentally injured; then, physiological data of a diver are collected through a diver terminal and are sent to the robot communication relay station 14 in a wireless mode, then wireless signals are amplified through the robot communication relay station 14, and diver state data are transmitted to the ground communication relay station; when the ground communication relay station finds that the diver is abnormal, the ground communication relay station sends a data instruction to the robot communication relay station 14 in a wireless mode, and then the diver is rescued through the robot arm 7 and the claw 701.
And, the diver still can charge to the diver terminal through wireless charging panel 1302 in the dive process, prevents that the diver terminal electric energy is not enough.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides a robot is followed in intelligence dive, includes casing (1), is located first intercommunication mouth (103) and second intercommunication mouth (105) of casing (1) front and back both sides, is located water pump (2) of casing (1), its characterized in that still includes:
the flow control cylinder (101) is used for changing the water flow direction in a first communication port (103) and a second communication port (105), the first communication port (103) is communicated with the flow control cylinder (101) through a first pipeline (102), and the second communication port (105) is communicated with the flow control cylinder (101) through a second pipeline (104);
the water pump (2) is used for conveying water outside the shell (1) to the flow control cylinder (101) for discharging, and further driving the shell (1) to move;
an infrared camera (605) connected to the side wall of the shell (1) and used for monitoring the state of the diver;
fixed connection is at robotic arm (7) of casing (1) lateral wall, and fixed connection is at gripper (701) of robotic arm (7) output, gripper (701) are used for hooking the diver.
2. An intelligent diving following robot according to claim 1, characterized by further comprising a first hollow cover (3) and a second hollow cover (4) fixedly connected to the side wall of the flow control cylinder (101), wherein the first hollow cover (3) and the second hollow cover (4) are both of two-group design and are both communicated with the inner cavity of the flow control cylinder (101);
a first interception block (301) which is connected in the first hollow cover (3) in a sliding way, and a second interception block (401) which is connected in the second hollow cover (4) in a sliding way;
the shell (1) is also internally provided with a control mechanism, and the control mechanism can control the first interception block (301) or the second interception block (401) to enable the inner cavity of the flow control cylinder (101) to be conducted or closed;
the second pipeline (104) is communicated with one end of the flow control cylinder (101), the first pipeline (102) is communicated with the middle part of the flow control cylinder (101), and one end, far away from the second pipeline (104), of the flow control cylinder (101) is communicated with the second pipeline (104) through a fifth pipeline (203);
the input end of the water pump (2) is communicated with the flow control cylinder (101) through a fourth pipeline (202), and the output end of the water pump (2) is communicated with the flow control cylinder (101) through a third pipeline (201);
two of the second intercepting blocks (401), one is positioned between the third pipeline (201) and the first pipeline (102), and the other is positioned between the fourth pipeline (202) and one end of the fifth pipeline (203) close to the second pipeline (104);
and two first cutoff blocks (301), one is positioned between the first pipeline (102) and the fourth pipeline (202), and the other is positioned between the third pipeline (201) and one end of the fifth pipeline (203) far away from the second pipeline (104).
3. An intelligent diving following robot according to claim 2, characterized in that said control mechanism comprises a first motor (5) located in the housing (1), a first rotating shaft (504) rotatably connected in the housing (1);
a first threaded sleeve (302) rotationally connected to the first hollow cover (3) and a first threaded rod (303) fixed to the first cutoff block (301), wherein the first threaded rod (303) extends out of the first hollow cover (3) and is in threaded connection with the first threaded sleeve (302);
a second threaded sleeve (402) connected to the second hollow cover (4) in a rotating mode, and a second threaded rod (403) fixed to the second cutoff block (401), wherein the second threaded rod (403) extends out of the second hollow cover (4) and is in threaded connection with the second threaded sleeve (402);
a first belt (304) is connected between the first threaded sleeve (302) and the first rotating shaft (504), a second belt (404) is connected between the second threaded sleeve (402) and the first rotating shaft (504), and the first rotating shaft (504) is driven to rotate by the first motor (5).
4. An intelligent diving following robot according to claim 3, characterized in that a second rotating shaft (602) is rotatably connected to the top of the housing (1), a platform (604) is fixedly connected to one end of the second rotating shaft (602) extending out of the housing (1), and the infrared camera (605) is fixed on the platform (604);
the device also comprises a first straight-moving device (502) and a second straight-moving device (6) which are fixed on the inner wall of the top of the shell (1), a second gear (503) which is rotationally connected to the output end of the first straight-moving device (502), and a third gear (601) which is rotationally connected to the output end of the second straight-moving device (6);
the first gear (501) is fixedly connected with the output end of the first motor (5), the seventh gear (505) is fixedly connected with the first rotating shaft (504), and the second gear (503) is separable from and can be meshed with the first gear (501) and the seventh gear (505);
and a sixth gear (603) fixedly connected to one end of the second rotating shaft (602) extending into the shell (1), wherein the third gear (601) is separable from and capable of meshing with the first gear (501) and the sixth gear (603).
5. An intelligent diving following robot according to claim 3, characterized by further comprising a swinging base (8) which can swing up and down in the housing (1), a third rotating shaft (801) which rotates on the swinging base (8), a fourth gear (802) and a crankshaft (902) which are fixed on the third rotating shaft (801), and a fifth gear (803) which is fixedly connected with the output end of the first motor (5);
the piston assembly comprises a frame body (9) which can move up and down in the shell (1), wherein the bottom of the frame body (9) is rotatably connected with a third rotating shaft (801), a piston assembly (901) is fixed on the frame body (9), and a crankshaft (902) is rotatably connected with the piston assembly (901);
the top of the frame body (9) is provided with a sliding groove (904), a third rectilinear motion device (903) fixed in the shell (1) and a sliding block (905) sliding in the sliding groove (904), and the output end of the third rectilinear motion device (903) is rotatably connected with the sliding block (905);
the pressure cavity (1003) is fixedly connected to the output end of the robot arm (7), the push plate (1004) slides in the pressure cavity (1003), the anti-falling rod (1005) is fixed to the side wall of the push plate (1004) and extends out of the pressure cavity (1003), and the claw (701) is provided with an anti-falling groove (1006) matched with the anti-falling rod (1005);
the water inlet (10) is arranged at the top of the shell (1), the water inlet (10) is communicated with the piston assembly (901) through a sixth pipeline (1001), the piston assembly (901) is communicated with the pressure cavity (1003) through a seventh pipeline (1002), and one-way valves are arranged in the sixth pipeline (1001) and the seventh pipeline (1002).
6. An intelligent diving following robot according to claim 5, characterized in that, it further comprises two sets of second motors (11) which are located on the top of the housing (1) and designed symmetrically, and the output end of each set of second motors (11) is fixedly connected with an auxiliary rod (1101).
7. An intelligent diving following robot according to claim 1, characterized by further comprising a storage battery (12) positioned in the housing (1), wherein the outer side wall of the storage battery (12) is provided with a partition plate (1201);
a slide way (13) is arranged at the bottom of the shell (1), a sliding plate (1301) is inserted into the slide way (13), and a wireless charging plate (1302) is arranged on the sliding plate (1301);
the wireless charging panel (1302) is connected with the storage battery (12) through a lead (1303).
8. An intelligent diving following robot according to claim 7, characterized in that it further comprises a robot communication relay station (14) located inside the housing (1), said robot communication relay station (14) receiving and amplifying signals by wireless means.
9. An intelligent diving following system comprising an intelligent diving following robot as claimed in claim 8, characterized in that:
the system also comprises a ground communication relay station, wherein the ground communication relay station is used for receiving the wireless signal amplified by the robot communication relay station (14);
the diver terminal can acquire physiological data of a diver and send the data to the robot communication relay station (14) in a wireless mode; the diver terminal is also provided with a wireless charging module, and the wireless charging module is used for carrying out electromagnetic induction interaction with the wireless charging plate (1302) to realize wireless charging of the diver terminal.
10. An intelligent diving following method, which utilizes the intelligent diving following system of claim 9, characterized by adopting the following steps:
s1, the infrared camera (605) collects the position information of the diver in real time, and the shell (1) is driven to move through water flows in the first communicating port (103) and the second communicating port (105) to follow the diver;
the direction of water flow in the first communication port (103) and the second communication port (105) is changed through the flow control cylinder (101), and the moving direction of the shell (1) is further adjusted;
s2, physiological data of a diver are collected through a diver terminal and sent to the robot communication relay station (14) in a wireless mode, then wireless signals are amplified through the robot communication relay station (14), and diver state data are transmitted to the ground communication relay station;
s3, when the diver is found to be abnormal, the diver is rescued through the robot arm (7) and the claw (701);
and S4, a charging step, wherein the diver can also charge the diver terminal through the wireless charging board (1302) during the diving process.
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| CN114426085B (en) | 2022-11-08 |
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