CN208181383U

CN208181383U - A kind of underwater operation robot system

Info

Publication number: CN208181383U
Application number: CN201820650725.9U
Authority: CN
Inventors: 王大旗
Original assignee: Huzhou Gao Rui Technology Co Ltd
Current assignee: Huzhou Gao Rui Technology Co Ltd
Priority date: 2018-05-03
Filing date: 2018-05-03
Publication date: 2018-12-04
Anticipated expiration: 2028-05-03

Abstract

The utility model provides a kind of underwater operation robot system, including buoy and robot body, and the buoy and the robot body are connected with each other by wireless signal；The buoy includes pedestal, the utility model robot body changes the reservoir storage to snorkel in bucket by water pump to change the buoyancy for the bucket that snorkels, make robot body dive or floating, realize specific position hovering operation, barrier in preceding ranging sonar sniffing robot advance route, servo driving rudder blade auxiliary machinery human body flexibly turns to avoiding obstacles, whether there are fish close behind ranging sonar sniffing robot ontology afterwards, second control module reads the natural enemy of fish audio file being stored in memory module in advance and plays out to drive away the shoal of fish by sound crowder, to the strong antijamming capability of environment, coefficient of surviving is high, safety is good, it is provided with buoy simultaneously as the signal terminal between robot body and the activity center of distal end.

Description

A kind of underwater operation robot system

Technical field

The utility model relates to robotics equipment field, in particular to a kind of underwater operation robot system.

Background technique

With the in-depth and development to scientific research of seas and ocean development strategy, in shoal, beach, ocean, lake etc. The work that detection is reconnoitred in environment is more and more.Today that modern project prospecting Detection Techniques tend to be perfect, although underwater exploration Have development, but be still faced with underwater environment is severe dangerous, people diving depth it is limited can not reach, uncertain factor it is excessive Etc. difficulties.And the exploration that architectural engineering enters bridge pier dam under water is directly related to the security of the lives and property of people, therefore sends out Opening up a kind of underwater robot replaces the mankind to realize that underwater exploration task just becomes particularly significant.

And existing underwater robot is in the presence of weak to the anti-interference ability of environment, energy consumption is high, noise is big, disturbance is big, cannot It can not implement for a long time in specific position hovering operation and on a large scale the disadvantages of surveying operation.And since underwater environment distance is made The distance at industry center is usually distant, will affect the stability of the two direct signal transmission, to influence underwater robot progress The stability and reliability of operation, reduce the operating efficiency of underwater robot.

Utility model content

(1) the technical issues of solving

To solve the above-mentioned problems, the utility model provides a kind of underwater operation robot system, and robot body is logical It crosses water pump and changes the reservoir storage to snorkel in bucket to change the buoyancy for the bucket that snorkels, make robot body dive or floating, realize Specific position hovers operation, the barrier in preceding ranging sonar sniffing robot advance route, servo driving rudder blade auxiliary machinery Human body flexibly turns to avoiding obstacles, and whether rear ranging sonar sniffing robot ontology has fish to approach behind, and second Control module read the natural enemy of fish audio file that is stored in memory module in advance and by sound crowder play out from And the shoal of fish is driven away, to the strong antijamming capability of environment, coefficient of surviving is high, and safety is good, while being provided with buoy as robot Signal terminal between ontology and the activity center of distal end improves what signal between robot body and activity center transmitted Stability, reliability and high efficiency improve robot sheet to ensure that the stability and reliability of robot body operation The operating efficiency of body.

(2) technical solution

A kind of underwater operation robot system, including buoy and robot body, the buoy and the robot body It is connected with each other by wireless signal；The buoy includes pedestal, and the pedestal floats on the water surface, and the upper surface of the pedestal occupies In be equipped with control-rod, the first control module, GPS positioning module, the first wireless communication module and the are equipped in the control-rod One power storage module, the external circumferential of the control-rod are equipped with cricoid first solar energy photovoltaic panel, the top of the control-rod Equipped with top plate, the upper surface of the top plate it is placed in the middle be equipped with signal lamp, the monosymmetric of the signal lamp is equipped with A pair of of wind turbine, the wind turbine are connected to the upper surface of the top plate, the output end of first control module by bracket The signal lamp is connected, first control module is communicated to connect by the GPS positioning module and GPS positioning satellite, First control module is separately connected in the operation of the robot body and distal end by first wireless communication module The heart, first solar energy photovoltaic panel and the wind turbine are electrically connected with first power storage module, first electric power storage Module provides operating voltage for the buoy；The robot body includes shell and several buckets that snorkel, and the bucket that snorkels is symmetrical The two sides for being connected to the shell, the shell is shuttle shape structure, and control room and power house are divided into the shell, described dynamic Power room is located at the lower section of the control room, and first partition is equipped between the power house and the control room, the power house Centre is equipped with propeller, and the propeller is fixed on the bottom inside of the shell, and the cardan shaft of the propeller is through described The bottom of shell and the lower section for stretching out the shell, the cardan shaft are connected by wear-resistant seal circle with the bottom of the shell It connects, the end of the cardan shaft is equipped with propeller, and the side of the power house is equipped with steering engine, and the steering engine is located at the shell On the inside of the back side, the rudderpost of the steering engine through the shell bottom and stretch out the lower section of the shell, the rudderpost also by Wear-resistant seal circle is connected with the bottom of the shell, and the end of the rudderpost is equipped with rudder blade, and the other side of the power house is set There is the second power storage module, second power storage module is located at the front inside of the shell, and second power storage module is equipped with electricity Amount detector, the centre of the control room are equipped with the second control module, and the side of the control room is equipped with image processing module, institute The front inside that image processing module is located at the shell is stated, the other side of the control room is equipped with memory module, the storage Module is located on the inside of the back side of the shell, is additionally provided with the second wireless communication module, second channel radio in the control room Letter module is located between described image processing module and second control module, and several electric rotatings are additionally provided in the power house Machine, the two fronts inside set on the shell of the rotating electric machine symmetrically, the rotary shaft of the rotating electric machine run through The side of the shell simultaneously stretches out in the shell, and the rotary shaft is connected by wear-resistant seal circle with the side of the shell It connects, is connected on the outside of the end of the rotary shaft and the bucket that snorkels, the bucket that snorkels includes staving, is divided into the staving Water storage room and pumping forces room, the pumping forces room are located at the lower section of the water storage room, are equipped between the water storage room and the pumping forces room Second partition, placed in the middle in the pumping forces room to be equipped with water pump, the first water pipe of the water pump through the second partition and protrudes into The water storage room, first water pipe are connected by wear-resistant seal circle with the second partition, the second water pipe of the water pump Through the staving bottom and stretch out in the staving, second water pipe passes through the bottom of wear-resistant seal circle and the staving It is connected, liquid level sensor is equipped in the water storage room, the liquid level sensor is located at the upper surface of the second partition, described The front of shell it is placed in the middle be equipped with camera, the front of the shell is monosymmetric to be equipped with several preceding ranging sonars, the shell The back side of body is monosymmetric to be equipped with several rear ranging sonars, and the back side of the shell is additionally provided with a pair of of sound crowder, described Sound crowder is symmetrically located in the back side of the shell, and the top of the shell is equipped with the second solar energy photovoltaic panel, described to take the photograph As head, the preceding ranging sonar, the rear ranging sonar, the liquid level sensor connect second control with the memory module The input terminal of molding block, the output end of second control module are separately connected the water pump, the rotating electric machine, the propulsion Device, the steering engine, described image processing module and the sound crowder, second control module are wireless by described second Communication module is connected with the buoy, and second solar energy photovoltaic panel and second power storage module are electrically connected, described Second power storage module provides operating voltage for the robot body.

Further, the pedestal is made of pvc material.

Further, the quantity of the bucket that snorkels is at least 4 or more even number.

Further, the liquid level sensor selects static pressure throw-in type liquid level sensor.

Further, the camera selects 3D high-definition night-viewing camera.

Further, the memory module stores the audio file of offline map packet and natural enemy of fish in advance.

Further, the GPS positioning module selects ET-318SiRF Star III GPS chip group.

Further, first wireless communication module and second wireless communication module select 2G, 3G or 4G logical Believe mould group.

Further, first control module selects 16 single-chip microcontroller MC95S12DJ128, second control module Select 32 ARM controller LPC1768.

Further, first solar energy photovoltaic panel and second solar energy photovoltaic panel are the flexible unitary silicon sun It can photovoltaic panel.

(3) beneficial effect

The utility model provides a kind of underwater operation robot system, and robot body is snorkeled in bucket by water pump change Reservoir storage to change the buoyancy of bucket of snorkeling, make robot body dive or floating, realize specific position hovering operation, machine Device human body provides onward impulse by screw propeller, and power performance is good, and job area is big, while robot body is set as Shuttle shape structure, and rotating electric machine will snorkel bucket from vertically becoming lateral after dive, reduce water when robot body advances Resistance, improve power transfer efficiency, reduce energy consumption, 3D high-definition night-viewing camera can allow robot body dim under water In the environment of can also accurately identify locating terrain environment feature, the barrier in preceding ranging sonar sniffing robot ontology advance route Hinder object, servo driving rudder blade auxiliary machinery human body flexibly turns to avoiding obstacles, rear ranging sonar sniffing robot sheet Whether there are fish to approach after body, the second control module reads the natural enemy of fish audio file being stored in memory module in advance simultaneously It plays out to drive away the shoal of fish by sound crowder, to the strong antijamming capability of environment, coefficient of surviving is high, and safety is good, Second power storage module carries coulometric detector, and when not enough power supply, robot body floating to the water surface, passes through the second solar energy automatically Photovoltaic panel charges to the second power storage module, meets energy-saving and environment-friendly design concept, increases the continuation of the journey energy of robot body Power, improves the operating efficiency of robot body, at the same be provided with buoy as robot body and the activity center of distal end it Between signal terminal, buoy by the first wireless communication module receive activity center job instruction and be transmitted to robot sheet Body, at the same robot body by the second wireless communication module by the underwater picture information that camera acquires send to buoy and by Buoy sends activity center to, realizes remote intelligent monitoring management, improves and believes between robot body and activity center Number transmission stability, reliability and high efficiency improved to ensure that the stability and reliability of robot body operation The operating efficiency of robot body, buoy itself are powered by the first power storage module, can pass through the first solar energy photovoltaic panel and wind wheel Machine charges to the first power storage module, takes full advantage of the natural energy resources of water environment, improves energy utilization rate, also guarantee The electricity of buoy abundance, further ensures the stable signal transmission between robot body and distal end activity center, floats Mark receives the navigation message of GPS positioning satellite by GPS positioning module, and when robot body terminates operation, buoy determines GPS Position data are sent respectively to robot body and activity center, facilitate robot body to return to the position of buoy, while passing through letter Number indicator light is indicated that robot body, simple in sturcture, ingenious in design, system can be quickly found out by facilitating activity center Low in energy consumption, detection accuracy is high, fast response time, and stability and good reliability have good practicability and scalability, can be wide The general prospecting detection operations applied to environment such as various shoals, beach, ocean, lakes.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of underwater operation robot system involved in the utility model.

Fig. 2 is a kind of schematic diagram of internal structure of the shell of underwater operation robot system involved in the utility model.

Fig. 3 is a kind of positive internal junction of the robot body of underwater operation robot system involved in the utility model Structure schematic diagram.

Fig. 4 is a kind of System Working Principle figure of underwater operation robot system involved in the utility model.

Specific embodiment

Embodiment involved in the utility model is described in further details with reference to the accompanying drawing.

In conjunction with FIG. 1 to FIG. 4, a kind of underwater operation robot system, including buoy and robot body, buoy and robot Ontology is connected with each other by wireless signal；Buoy includes pedestal 33, and pedestal floats on the water surface, and the upper surface of pedestal 33 is placed in the middle Equipped with control-rod 34, it is equipped with the first control module, GPS positioning module, the first wireless communication module and first in control-rod 34 and stores Electric module, the external circumferential of control-rod 34 are equipped with cricoid first solar energy photovoltaic panel 35, and the top of control-rod 34 is equipped with top Plate 36, the upper surface of top plate 36 it is placed in the middle be equipped with signal lamp 39, the monosymmetric of signal lamp 39 is equipped with a pair of of wind Turbine 38, wind turbine 38 are connected to the upper surface of top plate 36 by bracket 37, and the output end connection signal of the first control module refers to Show lamp 39, the first control module is communicated to connect by GPS positioning module and GPS positioning satellite, and the first control module passes through first Wireless communication module is separately connected the activity center of robot body and distal end, and the first solar energy photovoltaic panel 35 and wind turbine 38 are equal It is electrically connected with the first power storage module, the first power storage module provides operating voltage for buoy；If robot body include shell 1 with The dry bucket that snorkels, the bucket that snorkels symmetrically are connected to the two sides of shell 1, and shell 1 is shuttle shape structure, and control room 3 is divided into shell 1 and is moved Power room 2, power house 2 are located at the lower section of control room 3, first partition 4 are equipped between power house 2 and control room 3, in power house 2 Between be equipped with propeller 5, propeller 5 is fixed on the bottom inside of shell 1, the cardan shaft 6 of propeller 5 through the bottom of shell 1 simultaneously The lower section of shell 1 is stretched out, cardan shaft 6 is connected by wear-resistant seal circle with the bottom of shell 1, and the end of cardan shaft 6 is equipped with spiral shell Paddle 7 is revolved, the side of power house 2 is equipped with steering engine 8, and steering engine 8 is located on the inside of the back side of shell 1, and the rudderpost 9 of steering engine 8 is through shell 1 Bottom and the lower section for stretching out shell 1, rudderpost 9 are connected also by wear-resistant seal circle with the bottom of shell 1, and the end of rudderpost 9 is set There is rudder blade 10, the other side of power house 2 is equipped with the second power storage module 11, and the second power storage module 11 is located at the front inside of shell 1, Second power storage module 11 is equipped with coulometric detector, and the centre of control room 3 is equipped with the second control module 12, and the side of control room 3 is set There is image processing module 13, image processing module 13 is located at the front inside of shell 1, and the other side of control room 3 is equipped with storage mould Block 14, memory module 14 are located on the inside of the back side of shell 1, and the second wireless communication module 15 is additionally provided in control room 3, and second is wireless Communication module 15 is located between image processing module 13 and the second control module 12, and several rotating electric machines are additionally provided in power house 2 17, the two fronts inside set on shell 1 of rotating electric machine 17 symmetrically, the rotary shaft 18 of rotating electric machine 17 runs through shell 1 Side and stretch out in shell 1, rotary shaft 18 is connected by wear-resistant seal circle with the side of shell 1, the end of rotary shaft 18 It is connected on the outside of the bucket that snorkels, the bucket that snorkels includes staving 19, and water storage room 21 and pumping forces room 20, pumping forces room 20 are divided into staving 19 Second partition 22 is equipped between the lower section of water storage room 21, water storage room 21 and pumping forces room 20, it is placed in the middle in pumping forces room 20 to be equipped with First water pipe 24 of water pump 23, water pump 23 through second partition 22 and protrudes into water storage room 21, and the first water pipe 24 passes through wear-resistant seal Circle is connected with second partition 22, and the second water pipe 25 of water pump 23 runs through the bottom of staving 19 and stretches out in staving 19, the second water Pipe 25 is connected by wear-resistant seal circle with the bottom of staving 19, and liquid level sensor 26, liquid level sensor are equipped in water storage room 21 26 are located at the upper surface of second partition 22, the front of shell 1 it is placed in the middle be equipped with camera 27, the front of shell 1 is monosymmetric Equipped with several preceding ranging sonars 28, the back side of shell 1 is monosymmetric to be equipped with several rear ranging sonars 30, and the back side of shell 1 is also Equipped with a pair of of sound crowder 31, sound crowder 31 is symmetrically located in the back side of shell 1, and the top of shell 1 is equipped with second too Positive energy photovoltaic panel 32, camera 27, preceding ranging sonar 28, rear ranging sonar 30, liquid level sensor 26 and memory module 14 connect The input terminal of second control module 12, the output end of the second control module 12 are separately connected water pump 23, rotating electric machine 17, propeller 5, steering engine 8, image processing module 13 and sound crowder 31, the second control module 12 is by the second wireless communication module 15 and floats Mark is connected, and the second solar energy photovoltaic panel 32 and the second power storage module 11 are electrically connected, and the second power storage module 11 is robot sheet Body provides operating voltage.

The pedestal 33 of buoy bottom is made of pvc material, and polyvinyl chloride is the white general plastic of amorphous structure Material, the degree of branching is smaller, relative density only 1.4 or so, therefore buoy may float on the water surface by pedestal 33.Buoy passes through control The activity center that the second wireless communication module in bar 34 receives distal end is sent to the job instruction of robot body, and passes through the Two wireless communication modules are transmitted to robot body.

The bucket that snorkels of robot body is cavity structure, has certain buoyancy, robot body can be made to bubble through the water column.For Guarantee that the balance and stability of robot body, the quantity for the bucket that snorkels are at least 4 or more even number.Robot body is logical It crosses the first wireless communication module 15 to be communicated with the buoy on the water surface, receives the operation of buoy forwarding sent by activity center Instruction.When needing dive, the water pump 23 for barrel bottom pumping forces room 20 that snorkels works, and the second water pipe 25 sucks external water flow floating The water storage room 21 of latent bucket increases the weight to snorkel in bucket to change its buoyancy.Second control module 12 is by the specific depth of dive It is converted into the variation in buoyancy for the bucket that snorkels, is homogenized to the variable quantity that the bucket that individually snorkels is its weight.Liquid level in water storage room 21 The variation of 26 real-time monitoring water of sensor, liquid level sensor 26 select static pressure throw-in type liquid level sensor, static pressure throw-in type liquid Level sensor is the principle proportional to the height of the liquid based on surveyed fluid pressure, static pressure is converted to electric signal, then pass through Excess temperature compensation and linear amendment, are converted to standard electric signal.Liquid level sensor 26 accurately detects water in water storage room 21 Variation is sent into the second control module 12 and is handled, and the second control module 12 is to be calculated the variation of barrel weight that snorkels Amount, realizing robot body can hover in the progress operation of a certain depth.

After robot body dive to the depth needed, the rotating electric machine 17 of 1 internally-powered room of shell, 2 two sides works, rotation Rotating motor 17 drives rotary shaft 18 to rotate, and drive snorkels bucket rotation, and the bucket that makes to snorkel vertically is become from original laterally, to reduce The resistance for the water that robot body is subject to when advancing.Simultaneously robot body be designed as shuttle shape structure, further reduce by The resistance of the water arrived improves power transfer efficiency, reduces energy consumption.Propeller 5 works, and drives propeller 7 by cardan shaft 6 Rotation, generates forward propulsive force, robot body is made to travel forward under water, expand job area, and by propeller Propeller provides onward impulse, and power performance is good.The positive camera 27 of robot body acquires the image information in water, due to Underwater environment light is more dim, and camera 27 selects 3D high-definition night-viewing camera, robot body can be allowed to accurately identify locating Terrain environment feature, collect clearly image information, provide valuable reliable image document to activity center, provide Reconnoitre the strong reference of detection.It avoids simultaneously and carrys out auxiliary camera 27 using lighting apparatus such as searchlights, water will not be alarmed Under fish, improve the safety of robot body.The preceding ranging sonar 28 and rear ranging sonar 30 of robot body simultaneously It works, the barrier on preceding 28 sniffing robot ontology advance route of ranging sonar such as needs to change direction of advance, the second control Module 12 controls steering engine 8 and works, and steering engine 8 drives rudderpost 9 to rotate, and drives rudder blade 10 to rotate, to change the flow direction of water flow, makes machine Device human body changes direction of advance, realizes very flexible turning avoiding obstacles.30 sniffing robot sheet of ranging sonar afterwards Whether there are fish close after body, when there are fish behind robot body, the reading of the second control module 12 is stored in advance The audio file of natural enemy of fish in memory module 14, and carried out by the sound crowder 31 of robot body back side two sides It plays, to drive away fish, avoids fish and collide with robot body, to the strong antijamming capability of environment, existence system Number is high, and safety is good.

The image information that image processing module 13 acquires camera 27 is sent into the second control module 12 after handling, the Two control modules 12 are sent to buoy by the second wireless communication module 15, and buoy is sent to far by the first wireless communication module again The activity center at end.First wireless communication module and the second wireless communication module 15 are 2G, 3G or 4G communications module, mobile network Network signal cover is wide, and signal amplitude is strong, has high cost performance.Provided with buoy as robot body and distal end Signal terminal between activity center improves stability that signal between robot body and activity center transmits, reliable Property and high efficiency, ensure that the radio transmission efficiency between robot body and activity center, realize activity center intelligence Long-range monitoring.

Second power storage module 11 provides operating voltage for robot body, and the second power storage module 11 carries coulometric detector, When the remaining capacity deficiency or robot body that monitor the second power storage module 11 receive the floating instruction of distal end activity center When, rotating electric machine 17 works, and the bucket that will snorkel is initial vertical by laterally reverting to, and then water pump 23 works, and passes through the first water pipe 24 extract the water flow in water storage rooms 21, and are discharged into outside again through the second water pipe 25, so that the bucket that makes to snorkel restores to initial floating Power state makes robot body return to the water surface, completes floating movement.The surface of robot body is equipped with the second solar energy photovoltaic panel 32, the feature that water environment solar energy can be made full use of more sufficient, and the second solar energy photovoltaic panel 32 selects flexible list Crystal silicon solar photovoltaic panel has high photovoltaic conversion efficiency, improves solar energy utilization rate, provide for robot body Sufficient electric energy, makes robot body have good cruising ability, improves operating efficiency.Buoy is by the first internal electric power storage Module for power supply, since buoy is located at water surface for a long time, solar energy is more sufficient, therefore is arranged in the outside of control-rod 34 First solar energy photovoltaic panel 35, and the first solar energy photovoltaic panel 35 be ring-type, can the round-the-clock reception solar energy of multi-angle, mention The utilization rate of solar energy is risen, and the first solar energy photovoltaic panel 25 equally selects flexible unitary silicon solar photovoltaic panel, tool There is high photovoltaic conversion efficiency, further improves solar energy utilization rate.Simultaneously in view of water environment air quantity fills very much A pair of of wind turbine 38 is arranged at the top of buoy in foot, can be charged, be avoided to the first power storage module by the air quantity of water environment The first solar energy photovoltaic panel 35 can not charge to the first power storage module and lead to buoy cisco unity malfunction under continuous wet weather environment The case where, the natural energy resources of water environment are taken full advantage of, energy utilization rate is improved, also ensure the electricity of buoy abundance, Further ensure the stable signal transmission between robot body and distal end activity center

Buoy receives the navigation message of GPS positioning satellite by GPS positioning module, and GPS positioning module selects ET- 318SiRF Star III GPS chip group, SiRF Star III GPS chip group have high sensitivity, under low signal quickly TTFF (primary positioning time), the full visual field tracking in 20 channels, tracking velocity precision is 0.1m/s, supports NMEA0183 and SiRF bis- Carry agreement passes through data information as defined in the fixed output NMEA0183 of serial ports.It is fixed that MC95S12DJ128 receives recommendation therein Position information, obtains the information such as time, longitude and latitude.When the robot body that buoy receives the transmission of distal end activity center terminates operation Instruction, GPS positioning data are sent respectively to the activity center of robot body and distal end by buoy, and robot body is by depositing The operation waters offline map packet pre-deposited in storage module 14, and the GPS positioning data for combining buoy to send are back to buoy The position at place.The signal lamp 39 that buoy lights top plate 36 simultaneously is indicated that the personnel at convenient working center can be quick Buoy is found, so that robot body is taken back activity center.

First control module communicates interconnection with GPS positioning satellite foundation by GPS positioning module, while wireless by first Communication module is in communication with each other with the activity center of distal end and robot body respectively, while the first control module output control letter Number driving signal indicator light 39 works, and in order to simplify circuit, reduces cost, improves the scalability in system later period, the first control Module selects the EEPROM of the RAM and 2KB of 16 single-chip microcontrollers MC95S12DJ128, Flash, 8KB of built-in 128KB, has 5V input and driving capability, CPU working frequency can reach 50MHz.The independent number I/O interface in 29 tunnels, 20 road bands are interrupted and are called out The digital I/O interface for function of waking up, 10 A/D converters in 28 channels, input capture/output with 8 channels are compared, are also had There are 8 programmable channels PWM.With 2 serial asynchronous communication interface SCI, 2 synchronous serial Peripheral Interface SPI, I2C buses With CAN functional module etc., meet design requirement.Second control module 12 is to camera 27, preceding ranging sonar 28, rear ranging sonar 30, the input signal of liquid level sensor 26 and memory module 14 is handled, and output control signal controls water pump 23, rotation respectively Motor 17, propeller 5, steering engine 8, image processing module 13 and sound crowder 31 work, while passing through the second radio communication mold Block 16 is communicated with buoy.Since the second control module 12 needs quickly to handle multichannel data and multiple processes, work Work amount is larger, therefore it is required that while the second control module 12 has stronger data-handling capacity also to guarantee control precision and The synchronism of image transmitting.Second control module 12 selects 32 ARM controller LPC1768, based in ARM Cortex-M3 Core, operating frequency are up to 120MHz, and code execution speed is up to 1.25MIPS/MHz, and has peripheral interface unit abundant, Enormously simplify circuit.The high-speed processing technology of LPC1768 itself will be helpful to mention high control precision, while also ensure data The real-time of transmission.

Embodiment described above is only that preferred embodiments of the present invention are described, not practical to this Novel conception and scope is defined.Without departing from the design concept of the present utility model, ordinary people in the field couple The all variations and modifications that the technical solution of the utility model is made, should fall within the protection scope of the present utility model, this reality With novel claimed technology contents, it is all described in the claims.

Claims

1. a kind of underwater operation robot system, it is characterised in that: including buoy and robot body, the buoy and the machine Device human body is connected with each other by wireless signal；The buoy includes pedestal, and the pedestal floats on the water surface, the pedestal Upper surface it is placed in the middle be equipped with control-rod, the first control module, GPS positioning module, the first wireless communication are equipped in the control-rod Module and the first power storage module, the external circumferential of the control-rod are equipped with cricoid first solar energy photovoltaic panel, the control The top of bar is equipped with top plate, the upper surface of the top plate it is placed in the middle be equipped with signal lamp, the two sides pair of the signal lamp What is claimed is equipped with a pair of of wind turbine, and the wind turbine is connected to the upper surface of the top plate, first control module by bracket Output end connect the signal lamp, first control module is led to by the GPS positioning module and GPS positioning satellite Letter connection, first control module are separately connected the robot body and distal end by first wireless communication module Activity center, first solar energy photovoltaic panel and the wind turbine are electrically connected with first power storage module, and described the One power storage module provides operating voltage for the buoy；The robot body includes shell and several buckets that snorkel, described to snorkel Bucket is symmetrically connected to the two sides of the shell, and the shell is shuttle shape structure, is divided into control room and power house in the shell, The power house is located at the lower section of the control room, and first partition is equipped between the power house and the control room, described dynamic The centre of power room is equipped with propeller, and the propeller is fixed on the bottom inside of the shell, and the cardan shaft of the propeller passes through It wears the bottom of the shell and stretches out the lower section of the shell, the cardan shaft passes through the bottom of wear-resistant seal circle and the shell It is connected, the end of the cardan shaft is equipped with propeller, and the side of the power house is equipped with steering engine, and the steering engine is located at the shell On the inside of the back side of body, the rudderpost of the steering engine runs through the bottom of the shell and stretches out the lower section of the shell, the rudderpost Be connected by wear-resistant seal circle with the bottom of the shell, the end of the rudderpost is equipped with rudder blade, the power house it is another Side is equipped with the second power storage module, and second power storage module is located at the front inside of the shell, and second power storage module is set There is coulometric detector, the centre of the control room is equipped with the second control module, and the side of the control room is equipped with image procossing mould Block, described image processing module are located at the front inside of the shell, and the other side of the control room is equipped with memory module, described Memory module is located on the inside of the back side of the shell, is additionally provided with the second wireless communication module, second nothing in the control room Line communication module is located between described image processing module and second control module, and several rotations are additionally provided in the power house Rotating motor, the two fronts inside set on the shell of the rotating electric machine symmetrically, the rotary shaft of the rotating electric machine Through the shell side and stretch out in the shell, the rotary shaft passes through the side phase of wear-resistant seal circle and the shell It connects, is connected on the outside of the end of the rotary shaft and the bucket that snorkels, the bucket that snorkels includes staving, is divided in the staving For water storage room and pumping forces room, the pumping forces room is located at the lower section of the water storage room, sets between the water storage room and the pumping forces room There is a second partition, placed in the middle in the pumping forces room to be equipped with water pump, the first water pipe of the water pump through the second partition and is stretched Enter the water storage room, first water pipe is connected by wear-resistant seal circle with the second partition, the second water of the water pump Pipe runs through the bottom of the staving and stretches out in the staving, and second water pipe passes through the bottom of wear-resistant seal circle and the staving Portion is connected, and liquid level sensor is equipped in the water storage room, and the liquid level sensor is located at the upper surface of the second partition, institute State shell front it is placed in the middle be equipped with camera, the front of the shell is monosymmetric to be equipped with several preceding ranging sonars, described The back side of shell is monosymmetric to be equipped with several rear ranging sonars, and the back side of the shell is additionally provided with a pair of of sound crowder, institute The back side that sound crowder is symmetrically located in the shell is stated, the top of the shell is equipped with the second solar energy photovoltaic panel, described Camera, the preceding ranging sonar, rear ranging sonar, the liquid level sensor connect described second with the memory module The input terminal of control module, the output end of second control module are separately connected the water pump, the rotating electric machine, described push away Into device, the steering engine, described image processing module and the sound crowder, second control module passes through second nothing Line communication module is connected with the buoy, and second solar energy photovoltaic panel and second power storage module are electrically connected, institute It states the second power storage module and provides operating voltage for the robot body.

2. a kind of underwater operation robot system according to claim 1, it is characterised in that: the pedestal is by polyvinyl chloride Material is made.

3. a kind of underwater operation robot system according to claim 1, it is characterised in that: the quantity of the bucket that snorkels is extremely It is less 4 or more even number.

4. a kind of underwater operation robot system according to claim 1, it is characterised in that: the liquid level sensor is selected Static pressure throw-in type liquid level sensor.

5. a kind of underwater operation robot system according to claim 1, it is characterised in that: the camera selects 3D high Clear night vision cam.

6. a kind of underwater operation robot system according to claim 1, it is characterised in that: the memory module is deposited in advance Put the audio file of offline map packet and natural enemy of fish.

7. a kind of underwater operation robot system according to claim 1, it is characterised in that: the GPS positioning module choosing With ET-318 SiRF Star III GPS chip group.

8. a kind of underwater operation robot system according to claim 1, it is characterised in that: first radio communication mold Block and second wireless communication module select 2G, 3G or 4G communications module.

9. a kind of underwater operation robot system according to claim 1, it is characterised in that: the first control module choosing With 16 single-chip microcontroller MC95S12DJ128, second control module selects 32 ARM controller LPC1768.

10. a kind of underwater operation robot system according to claim 1, it is characterised in that: first solar energy It lies prostrate plate and second solar energy photovoltaic panel is flexible unitary silicon solar photovoltaic panel.