CN202703877U - Image processing-based self-control underwater robot - Google Patents
Image processing-based self-control underwater robot Download PDFInfo
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- CN202703877U CN202703877U CN 201220409639 CN201220409639U CN202703877U CN 202703877 U CN202703877 U CN 202703877U CN 201220409639 CN201220409639 CN 201220409639 CN 201220409639 U CN201220409639 U CN 201220409639U CN 202703877 U CN202703877 U CN 202703877U
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Abstract
The utility model discloses an image processing-based self-control underwater robot, which comprises a floating box and an irregularly-shaped aluminum framework, wherein the irregularly-shaped aluminum framework is arranged at the bottom of the floating box; a master controller is arranged in the floating box; the floating box is provided with a sensor module and a video module; the master controller is connected with a remote interaction platform through a CAN (Controller Area Network) module; the two ends of the aluminum framework are provided with a horizontal direct current speed-down motor and a vertical floating motor respectively; both floating motors are positioned outside the two direct current speed-down motors; shafts of the four motors are fixedly connected with a paddle type propeller; and the front end of the aluminum framework is provided with a multi-degree-of-freedom manipulator. According to the image processing-based self-control underwater robot, some simple underwater operation is finished through the replaceable multi-degree-of-freedom manipulator, and information acquisition is performed through a camera and image recognition and processing are performed, so that the robot performs image acquisition exploration and simple underwater operation in water.
Description
Technical field
The utility model relates to a kind of under-water robot of processing based on image, can automatically carry out underwater exploration and simple under-water operation.
Background technology
Under water the automatic robot be a kind ofly be very suitable for searching under water, investigate, the not only economy of identification and fishing operation but also the instrument of safety.Militarily, the automatic robot also is a kind of actv. underawater ordnance under water.Compare with manned submersible, it has safety (unmanned), simple in structure, lightweight, the advantage such as size is little, cost is low.And compare with remote underwater robot (ROV), it has, and action radius is large, diving depth dark, can enter in the labyrinth, do not need huge water surface support, take the little and low cost and other advantages of floor space.The automatic robot has represented the developing direction of following under-water robot technology under water, is the focus of our times various countries research.Therefore, researching and developing high, the with low cost under-water robot that superior performance can be provided for underwater exploration and under-water operation of a kind of reliable in structure, technology maturation, automation, is a very promising research.
The utility model content
The technical problems to be solved in the utility model has provided a kind of oneself simple in structure, that process based on image efficiently and has controlled under-water robot.
For solving the problems of the technologies described above, technical solution adopted in the utility model is: a kind of oneself who processes based on image controls under-water robot, comprises buoyancy tank and the special-shaped aluminium skeleton that is located at the buoyancy tank bottom; Be provided with master controller in the described buoyancy tank, buoyancy tank is provided with sensor assembly and video module, and master controller is connected with the remote interaction platform by the CAN module; The two ends of described aluminium skeleton respectively are provided with DC speed-reducing and vertical buoyance lift motor of a level, and two buoyance lift motors all are positioned at the outside of two DC speed-reducing; Each captives joint the axle of described four motors with a slurry formula propelling unit; The front end of aluminium skeleton is provided with the multi freedom degree mechanical hand.
Wherein, the outside of described four motors respectively is provided with a Water-proof aluminium cover, and the angle of rake outer cover of slurry formula is covered with fairing.
Wherein, described sensor assembly comprises level sensor, acceleration pick-up and the electronic compass that is connected with master controller respectively.
Wherein, described video module comprises pan and tilt head camera, LCDs and the video frequency collection card that is connected with master controller respectively.
Wherein, described master controller adopts the ARM chip.
Wherein, described multi freedom degree mechanical hand comprises horizontal shifting platform, and horizontal shifting platform is sleeved on the optical axis, and optical axis is fixed on the aluminium skeleton by two vertical faggings that are located at respectively its two ends; Horizontal shifting platform links to each other with Timing Belt by the boss on its top; The bottom of horizontal shifting platform is fixed with perpendicular platform, vertical platform is provided with a pair of clamping plate with counterbore, be provided with oscillating motor between the clamping plate, the two ends of oscillating motor are arranged with motor shaft and asessory shaft, after motor shaft and asessory shaft pass respectively two counterbores on the clamping plate, captive joint with the pair of outside clamping plate that are located at the clamping plate outside respectively; Be provided with and its fixing oscillating platform between two outside clamping plate, the top of oscillating platform is provided with the folding motor, and its bottom is provided with a pair of intermeshing half gear; The counterbore that the motor shaft of folding motor passes on the oscillating platform links to each other by coupler with the center of half gear under it; Each links to each other the front end of two and half gears with an aluminum pawl.
The beneficial effect that adopts technique scheme to produce is: the utility model is by removable multi freedom degree mechanical hand, finish some simple under-water operations, and pass through camera collection information and image recognition, processing, make robot in water, carry out image acquisition exploration and simple under-water operation.Control system of the present utility model is converted by the flight rocking bar, and direction of tilt and the angle of inclination of the sense of motion of robot and kinematic velocity and rocking bar are proportional; The flight rocking bar motion control of hommization and the control of sealed model machinery use simple, intuitive; Vertically two balanced systems that advance are convenient to carry out the heavy burden task.Double-barrel structure, outward appearance is novel unique; Robot density and water seemingly can be finished unpowered or the low-power suspension; The control box of robot top is buoyancy tank, makes compact conformation; The multivariant manipulator in robot the place ahead makes robot can carry out the complicated high precision operations such as the salvaging of crawl under water; Under-water robot is to rely on self-contained level sensor, the various sensor such as acceleration pick-up and electronic compass, the first-class device of shooting come Information Monitoring, vision signal is passed bank base screen back by cable and is carried out the image processing, compounding practice person's regulation and control, make robot can realize Omni-mobile in the three dimensional space under water, with search under water, investigate, identification and fishing operation.
Description of drawings
Fig. 1 is the integral structure figure that is of the present utility model;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the constructional drawing of multi freedom degree mechanical hand;
Among the figure: 3-1, buoyancy tank, 3-2, slurry formula propelling unit, 3-3, multi freedom degree mechanical hand, 3-4, fairing, 3-5, buoyance lift motor, 3-6, DC speed-reducing, 4-1, horizontal shifting platform, 4-2, optical axis, 4-3, synchronizing wheel, 4-4, Timing Belt, 4-5, vertical platform, 4-6, oscillating platform, 4-7, oscillating motor, 4-8, folding motor, 4-9, half gear, 5-1, special-shaped aluminium skeleton, 5-2, motor Water-proof aluminium cover, 5-3, motor tail seal cover, 5-4, weight slide block.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
Be structural representation of the present utility model as shown in Figure 1, 2.The utility model is that a kind of oneself who processes based on image controls under-water robot, comprises buoyancy tank 3-1 and the special-shaped aluminium skeleton 5-1 that is located at buoyancy tank 3-1 bottom; Be provided with master controller among the described buoyancy tank 3-1, buoyancy tank 3-1 is provided with sensor assembly and video module, sensor assembly comprises level sensor, acceleration pick-up and the electronic compass that is connected with master controller respectively, and video module comprises pan and tilt head camera, LCDs and the video frequency collection card that is connected with master controller respectively; Master controller adopts the ARM chip, and communicates with the remote interaction platform by the CAN module and to be connected, and the remote interaction platform is placed in the bank base, is used for controlling under-water robot; The two ends of aluminium skeleton 5-1 respectively are provided with DC speed-reducing 3-6 and vertical buoyance lift motor 3-5 of a level, and two buoyance lift motor 3-5 all are positioned at the outside of two DC speed-reducing 3-6; Each captives joint the axle of four motors with a slurry formula propelling unit 3-2, and the outside of four motors respectively is provided with a Water-proof aluminium cover 5-2, and the outer cover of slurry formula propelling unit 3-2 is covered with fairing 3-4; The front end of aluminium skeleton 5-1 is provided with multi freedom degree mechanical hand 3-3.
Master controller of the present utility model is the ARM chip, and this chip is used for gathering and storing extraneous information, perception outside and the information of internal system module generation and the modules of control.The control system of under-water robot is to utilize the artificial leading technology that combines with adjustment two parts, the data transmission of utilizing under-water robot to return by the lower computer collection is returned the bank base section, the data that the operator returns by transmission realize the operation of macroscopical direction to the action of robot, when being tending towards near object or destination, the various sensors that then utilize under-water robot self to install receive the place ahead and transmit the data of returning and regulate voluntarily, realized the step to the environment accurate operation, thereby can realize that under-water robot can finish task under water smoothly.
For artificial leading part, be the principle of utilizing flight rocking bar motion control and sealed model machinery, direction of tilt and the angle of inclination of the sense of motion of robot and kinematic velocity and rocking bar are proportional.The motion of mechanical arm is controlled by a sealed model, and the attitude of mechanical arm is instantaneous corresponding with the attitude of sealed model, thereby realizes artificial macroscopic view adjusting; Robot self is realized the part that self finely tunes according to residing situation, that under-water robot relies on the various sensor such as self-contained level sensor, acceleration pick-up and electronic compass, the first-class device of shooting to come Information Monitoring, vision signal is passed bank base screen back by cable and is carried out the image processing, thereby realize remote signal is revised, finally make reasonable action.
Sensor assembly of the present utility model comprises level sensor, acceleration pick-up, electronic compass.Wherein, level sensor is for detection of the robot travel depth, the acceleration force when acceleration pick-up is advanced for detection of robot, and electronic compass is used for providing in real time course and the attitude of robot.By the data that each sensor provides, make under-water robot carry out better image acquisition, under-water operation.
Communication module of the present utility model adopts the CAN module, and the CAN module is a intelligent electric-controlled equipment that realization communication data between whole each electronic control package of robot is transmitted, thereby makes the whole controlled vehicle-mounted electrical device regional network control system that realizes of robot.Powerful 16 8-digit microcontrollers with two-way CAN controller have been adopted.Support CAN2.0A and CAN2.0B agreement.Press the exploitation of ＂ SAE J1939 ＂ standard agreement. support K radiodiagnosis x function.Can be applicable to simultaneously high speed and low speed CAN bus network.Have good leak tightness, can be used in harsh environment under water.
The DC speed-reducing 3-6 of two horizontal positioned is in order to provide translation power, and two vertical buoyance lift motor 3-5 that place are in order to provide Longitudinal.Horizontal direction realizes the direction adjustment by the propelling unit differential, and vertical direction is that a cover that is positioned over the center is covered with the slurry formula propelling unit speed governing of fairing for the lifting of posture balancing and realization vertical direction.Slurry formula propelling unit 3-2 is used for posture balancing and realizes the lifting of vertical direction.Outside motor has Water-proof aluminium cover 5-2, and press closer the silicagel pad between the nylon ring of close-fitting on lid and the motor sleeve by screw clamp, anti-sealing enters motor sleeve from end cap, and motor tail seal cover 5-3 clamps the anti-sealing of O shape circle and overlaps 5-3 from the motor tail seal and enter motor sleeve by the tighten up a screw pulling force that provides of top cover.
Video module comprises camera, 19 cun LCDs and video frequency collection card.There is a pan and tilt head camera top of under-water robot, can completely observe the environment around the robot and can analyze judgement for the operator by the screen that cable is passed the bank base back.Vision signal is passed bank base screen back by cable, the operator can obtain this moment various potentiometric states of under-water robot self according to image, real time altering under-water robot athletic posture is also regulated and control sense of motion and the kinematic velocity of under-water robot, can judge examination to object or destination rapidly.
Top of the present utility model is divided into the organism glass buoyancy tank, and camera, control circuit, image acquisition and recognition system are installed in the buoyancy tank, realizes the control to simple under-water operation; The robot bottom is divided into framed structure, and framework is built by the 20*20 special-shaped aluminium section, connects with aluminum corner brace.The two kinds of unlike materials in top and the bottom make robot center of gravity and centre of buoyancy separately, realize unpowered or the low-power suspension.
As shown in Figure 3, the front end of aluminium skeleton 5-1 is provided with a multi freedom degree mechanical hand 3-3.And multi freedom degree mechanical hand 3-3 comprises oscillating motor 4-7, folding motor 4-8, one half gear 4-9 and a pair of aluminum pawl; Horizontal shifting platform 4-1 is sleeved on the optical axis 4-2, and the back of horizontal shifting platform 4-1 is provided with linear bearing, guarantees that it does parallel smooth sliding at optical axis 4-2; Horizontal shifting platform 4-1 arranges a plurality of drain gutters on the surface, can reduce the resistance of robot in water; Optical axis 4-2 is fixed on the aluminium skeleton 5-1 by two vertical faggings that are located at respectively its two ends; Horizontal shifting platform 4-1 links to each other with Timing Belt 4-4 by the boss on its top.
The bottom of horizontal shifting platform 4-1 is fixed with perpendicular platform 4-5, vertical platform 4-5 is provided with a pair of clamping plate with counterbore, be provided with oscillating motor 4-7 between the clamping plate, the two ends of oscillating motor 4-7 are arranged with motor shaft and asessory shaft, after motor shaft and asessory shaft pass respectively two counterbores on the clamping plate, captive joint with the pair of outside clamping plate that are located at the clamping plate outside respectively; Be provided with and its fixing oscillating platform 4-6 between two outside clamping plate, the top of oscillating platform 4-6 is provided with folding motor 4-8, and its bottom is provided with a pair of intermeshing half gear 4-9; The counterbore that the motor shaft of folding motor 4-8 passes on the oscillating platform 4-6 links to each other by coupler with the center of half gear under it; Each links to each other the front end of two and half gear 4-9 with an aluminum pawl; Two pawls are connected as a single entity by organism glass pad and the screw of therebetween, can not relatively rotate, and the aluminum pawl of the both sides of improving oneself pass through spring straining.Projection on the gear is blocked anti-claw stop top with the aluminum pawl and is bumped against, and spring can provide flexibility to add the power of holding when gripper grasps article.
In sum, give multi freedom degree mechanical hand 3-3 three degree of freedom by DC speed-reducing 3-6, oscillating motor 4-7 and folding motor 4-8: left and right sides motion of translation, swing up and down and folding.Wherein, the rotation of DC speed-reducing 3-6 is converted to horizontal shifting platform 4-1 accurate parallel motion on optical axis 4-2 through synchronizing wheel 4-3 and Timing Belt 4-4; The rotation of oscillating motor 4-7 is by being converted to swinging up and down of oscillating platform 4-6 with two outside clamping plate that its motor shaft links to each other with asessory shaft respectively; The rotation of the motor shaft of folding motor 4-8 is controlled the folding of two aluminum pawls by the transmission of two and half gear 4-9; The aluminum pawl is zig-zag, double-layer structure up and down, can pick up the object of various shape.
The utility model is connected with bank base control box by three groups of cables, and process artificial regulatory and self-regulation can be finished crawl collection to object, the high precision compound actions such as carrying are thrown in, moved to fixed point, can realize smoothly under-water operation.
Power module of the present utility model comprises main power source, lead-acid storage battery backup power and DC voltage-stabilizing module, and 24V and 12V voltage are provided.When commercial power interface is arranged, can provide electric power with Switching Power Supply, when outdoor mobile, can provide electric power with lead-acid storage battery.
Claims (6)
1. an oneself who processes based on image controls under-water robot, comprises buoyancy tank (3-1) and is located at special-shaped aluminium skeleton (5-1) bottom the buoyancy tank (3-1); Be provided with master controller in the described buoyancy tank (3-1), buoyancy tank (3-1) is provided with sensor assembly and video module, and master controller is connected with the remote interaction platform by the CAN module; The two ends of described aluminium skeleton (5-1) respectively are provided with DC speed-reducing (3-6) and vertical buoyance lift motor (3-5) of a level, and two buoyance lift motors (3-5) all are positioned at the outside of two DC speed-reducing (3-6); Each captives joint the axle of described four motors with a slurry formula propelling unit (3-2); The front end of aluminium skeleton (5-1) is provided with multi freedom degree mechanical hand (3-3).
2. a kind of oneself who processes based on image according to claim 1 controls under-water robot, and it is characterized in that: the outside of described four motors respectively is provided with a Water-proof aluminium cover (5-2), and the outer cover of slurry formula propelling unit (3-2) is covered with fairing (3-4).
3. a kind of oneself who processes based on image according to claim 1 controls under-water robot, and it is characterized in that: described sensor assembly comprises level sensor, acceleration pick-up and the electronic compass that is connected with master controller respectively.
4. a kind of oneself who processes based on image according to claim 1 controls under-water robot, and it is characterized in that: described video module comprises pan and tilt head camera, LCDs and the video frequency collection card that is connected with master controller respectively.
5. a kind of oneself who processes based on image according to claim 1 controls under-water robot, and it is characterized in that: described master controller adopts the ARM chip.
6. a kind of oneself who processes based on image according to claim 1 controls under-water robot, it is characterized in that: described multi freedom degree mechanical hand (3-3) comprises horizontal shifting platform (4-1), horizontal shifting platform (4-1) is sleeved on the optical axis (4-2), and optical axis (4-2) is fixed on the aluminium skeleton (5-1) by two vertical faggings that are located at respectively its two ends; Horizontal shifting platform (4-1) links to each other with Timing Belt (4-4) by the boss on its top; The bottom of horizontal shifting platform (4-1) is fixed with perpendicular platform (4-5), vertical platform (4-5) is provided with a pair of clamping plate with counterbore, be provided with oscillating motor (4-7) between the clamping plate, the two ends of oscillating motor (4-7) are arranged with motor shaft and asessory shaft, after motor shaft and asessory shaft pass respectively two counterbores on the clamping plate, captive joint with the pair of outside clamping plate that are located at the clamping plate outside respectively; Be provided with and its fixing oscillating platform (4-6) between two outside clamping plate, the top of oscillating platform (4-6) is provided with folding motor (4-8), and its bottom is provided with a pair of intermeshing half gear (4-9); The counterbore that the motor shaft of folding motor (4-8) passes on the oscillating platform (4-6) links to each other by coupler with the center of half gear under it; Each links to each other the front end of two and half gears (4-9) with an aluminum pawl.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220409639 CN202703877U (en) | 2012-08-18 | 2012-08-18 | Image processing-based self-control underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220409639 CN202703877U (en) | 2012-08-18 | 2012-08-18 | Image processing-based self-control underwater robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419916A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Shallow-water miniature-underwater robot system |
| CN103439892A (en) * | 2013-08-15 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Deck control device of miniature underwater robot for shallow water |
| CN103600821A (en) * | 2013-11-07 | 2014-02-26 | 江苏科技大学 | Omni-directional floating and wall-climbing underwater robot |
| CN103760909A (en) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | Control system of underwater detecting device |
| CN103847940A (en) * | 2014-03-17 | 2014-06-11 | 南京赫曼机器人自动化有限公司 | Hazard detection robot for interior of fluid container |
| CN103885404A (en) * | 2014-03-06 | 2014-06-25 | 青岛罗博飞海洋技术有限公司 | Method for controlling four-propeller thruster of underwater robot |
| CN103935471A (en) * | 2014-04-12 | 2014-07-23 | 哈尔滨工程大学 | Buoyancy adjustor of propeller-propelling-type underwater buoy with telescopic cylinders |
| CN105836080A (en) * | 2016-03-22 | 2016-08-10 | 天津深之蓝海洋设备科技有限公司 | Power system for underwater robot and underwater robot |
| CN106043631A (en) * | 2016-06-15 | 2016-10-26 | 青岛赶海机器人有限公司 | Manipulator backpack type underwater robot |
| CN106477008A (en) * | 2016-11-25 | 2017-03-08 | 哈尔滨工程大学 | A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform |
| CN106826891A (en) * | 2017-04-13 | 2017-06-13 | 上海未来伙伴机器人有限公司 | A kind of underwater manipulator structure and robot |
| CN107105594A (en) * | 2017-06-28 | 2017-08-29 | 舟山遨拓海洋工程技术有限公司 | One kind is applied to ROV front ends collision prevention device |
| CN107264749A (en) * | 2017-06-21 | 2017-10-20 | 上海电机学院 | A kind of Qu Wu robots under water |
| CN109562816A (en) * | 2017-08-09 | 2019-04-02 | 深圳微孚智能信息科技有限公司 | Underwater navigation robot |
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2012
- 2012-08-18 CN CN 201220409639 patent/CN202703877U/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439892A (en) * | 2013-08-15 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Deck control device of miniature underwater robot for shallow water |
| CN103419916A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Shallow-water miniature-underwater robot system |
| CN103600821A (en) * | 2013-11-07 | 2014-02-26 | 江苏科技大学 | Omni-directional floating and wall-climbing underwater robot |
| CN103600821B (en) * | 2013-11-07 | 2016-03-30 | 江苏科技大学 | Omnidirectional swims and climbs wall under-water robot |
| CN103760909A (en) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | Control system of underwater detecting device |
| CN103885404A (en) * | 2014-03-06 | 2014-06-25 | 青岛罗博飞海洋技术有限公司 | Method for controlling four-propeller thruster of underwater robot |
| CN103885404B (en) * | 2014-03-06 | 2016-08-17 | 青岛罗博飞海洋技术有限公司 | Underwater robot quadruple screw propeller propeller control method |
| CN103847940B (en) * | 2014-03-17 | 2017-02-01 | 南京赫曼机器人自动化有限公司 | Hazard detection robot for interior of fluid container |
| CN103847940A (en) * | 2014-03-17 | 2014-06-11 | 南京赫曼机器人自动化有限公司 | Hazard detection robot for interior of fluid container |
| CN103935471A (en) * | 2014-04-12 | 2014-07-23 | 哈尔滨工程大学 | Buoyancy adjustor of propeller-propelling-type underwater buoy with telescopic cylinders |
| CN105836080A (en) * | 2016-03-22 | 2016-08-10 | 天津深之蓝海洋设备科技有限公司 | Power system for underwater robot and underwater robot |
| CN106043631A (en) * | 2016-06-15 | 2016-10-26 | 青岛赶海机器人有限公司 | Manipulator backpack type underwater robot |
| CN106477008A (en) * | 2016-11-25 | 2017-03-08 | 哈尔滨工程大学 | A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform |
| CN106826891A (en) * | 2017-04-13 | 2017-06-13 | 上海未来伙伴机器人有限公司 | A kind of underwater manipulator structure and robot |
| CN106826891B (en) * | 2017-04-13 | 2023-07-25 | 上海未来伙伴机器人有限公司 | Underwater manipulator structure and robot |
| CN107264749A (en) * | 2017-06-21 | 2017-10-20 | 上海电机学院 | A kind of Qu Wu robots under water |
| CN107264749B (en) * | 2017-06-21 | 2019-11-19 | 上海电机学院 | A kind of underwater pickup robot |
| CN107105594A (en) * | 2017-06-28 | 2017-08-29 | 舟山遨拓海洋工程技术有限公司 | One kind is applied to ROV front ends collision prevention device |
| CN109562816A (en) * | 2017-08-09 | 2019-04-02 | 深圳微孚智能信息科技有限公司 | Underwater navigation robot |
| CN109562816B (en) * | 2017-08-09 | 2021-01-29 | 深圳微孚智能信息科技有限公司 | Underwater navigation robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130130 Termination date: 20130818 |