CN208985011U - A kind of hull bottom intelligence underwater cleaning robot - Google Patents
A kind of hull bottom intelligence underwater cleaning robot Download PDFInfo
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- CN208985011U CN208985011U CN201821864341.3U CN201821864341U CN208985011U CN 208985011 U CN208985011 U CN 208985011U CN 201821864341 U CN201821864341 U CN 201821864341U CN 208985011 U CN208985011 U CN 208985011U
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- underwater
- hull bottom
- control
- robot
- cleaning robot
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Abstract
The utility model belongs to technical field of robot control, discloses a kind of hull bottom intelligence underwater cleaning robot, and underwater robot is the bilevel tower structure as made of aluminum alloy splicing；Core part is electronics storehouse, the electronics storehouse be it is cylindric be disposed across the body midline position, battery compartment be also it is cylindric, be disposed across immediately below electronics storehouse；Two cleaning brush are mounted on both sides in front of body, and giant is mounted on immediately ahead of body chassis；Crawler belt is installed in two sides immediately below chassis.The utility model can make body carry out 90 degree inclinations by propeller, attach it alow, then cooperate with crawler belt and make it alow surface is moved；Start cleaning brush and giant and each orientation cleaning is carried out to hull bottom.
Description
Technical field
The utility model belongs to technical field of robot control more particularly to a kind of hull bottom intelligence underwater cleaning robot.
Background technique
Underwater is widely used in pipe inspection, hull maintenance, research and teaching, underwater amusement, underwater archaeology, fishing at present
The how civilian and military domains such as industry, ocean bottom cable inspection.
As exploration range of the people to ocean is more and more wider, the demand to ocean development is more and more stronger, hull bottom intelligent water
Lower cleaning robot becomes the object of whole world research.
Hull bottom intelligence underwater cleaning robot be by artificial intelligence, automatic control, pattern-recognition, information fusion with understand,
The technologies such as the system integration are applied on traditional carrier, and preplanned mission in complicated marine environment is completed in the case where unmanned
Robot.
Currently, with the extensive use in computer technology alow intelligent underwater cleaning robot, people will be using more
New technique, the control hull bottom intelligence underwater cleaning robot more visualized.
In the prior art, underwater robot is only limitted to synthetic aperture sonar, forward sight for undersea detection and the equipment of identification
The underwater sound equipments such as sonar and three-dimensional imaging sonar.Being not bound with intelligent control technology is the independence for improving underwater robot, is made
It cannot be completed various tasks in complicated marine environment.
Synthetic aperture sonar is to move along space linear uniform motion come virtual large aperture basic matrix using small size basic matrix
The ordinal position transmitting of track and receives echo-signal, according to spatial position and phase relation to the echo-signal of different location into
The processing of row coherent superposition, to form equivalent large aperture, acquisition is very suitable to along the high resolution of the direction of motion (orientation)
The little underwater robot of scale, can be used for scouting, detect, high-resolution imaging, be underwater in the survey of large-scale terrain landforms etc.
Robot provides a kind of good detection means of performance.
The image acquisition and processing system of Forward-looking Sonar independently acquires and identifies under water target under computer network management
Image information realizes the tracking to target and the guidance to underwater robot.Wave beam used by underwater sound wave is narrower, and frequency is got over
Height, the then image formed are more clear.By the real-time accurately display submarine target of the aobvious control of sonar apart from information such as orientation, to scheme
The form of picture in time efficiently shows sub-marine situations on the screen, understanding submarine target and environment that can be clear and accurate, with
Accurately judgement and reply are made, detection or navigation are completed.
Three-dimensional imaging sonar of the three-dimensional imaging sonar for the identification of submarine target, be-one total digitalization, it is programmable,
The modular system with flexibility and easily modified.The shape information that submarine target can be obtained, provides for Underwater Targets Recognition
Advantageous tool.
In conclusion problem of the existing technology is:
(1) in the prior art, underwater robot is only limitted to synthetic aperture sonar, preceding for the equipment of undersea detection and identification
Depending on the underwater sound equipments such as sonar and three-dimensional imaging sonar, being not bound with intelligent control technology is the independence for improving underwater robot,
It causes to complete various tasks in complicated marine environment.
(2) most important in mechanical aspects is exactly seepage problem, and electronics storehouse is the device that is sealed for having end cap, but due to envelope
Secret skill art is immature, and little water how much can be penetrated into storehouse and is entered.
Solve the difficulty and meaning of above-mentioned technical problem:
Since the environment of underwater robot operation is complicated, the noise of underwater sound signal is big, and wave beam is unstable or the various underwater sounds
The disadvantage that the generally existing precision of sensor is poor, jump is frequent, therefore in AUV Control system, filtering technique is aobvious
It obtains particularly important.
In order to improve the leakproofness of warehouse, electronics Hatch Opening is added one layer of rubber ring by the utility model, when sealing and sealing cover
Inside groove tightly touch.For effect, we will be sealed the lengthening of lid inside groove, and add several layers of rubber rings in inside groove periphery, when sealing
The rubber ring of inside groove periphery tightly touch electronics storehouse inner wall.To reach good waterproof effect.
Utility model content
In view of the problems of the existing technology, the utility model provides a kind of hull bottom intelligence underwater cleaning robot.
The utility model is realized in this way a kind of hull bottom intelligence underwater cleaning robot control system, the hull bottom intelligence
Can underwater cleaning robot control system include:
Onboard system, the motion control for real-time perfoming underwater robot；
PC image terminal is connect with onboard system signal, for directly controlling underwater after being connected to onboard system instruction
The operation of people, and control instruction feedback is passed into onboard system, and the data collected are saved, shown and returned
It broadcasts.
Further, the onboard system specifically includes: Underwater Target Detection and identifying system, and the chassis of underwater robot is carried out
The Mechatronic Systems of band, the airborne master control system of ROV.
From control system, for the detection and identification to submarine target, the transmission of image operates the movement of underwater robot
State can be such that underwater robot attaches in seabed, hull bottom, carry out railless movable.
Further, PC image terminal includes the host computer that is formed of PC machine and console to slave computer；Slave computer is being connected to finger
The operation of underwater robot is directly controlled after order；By mouse, somatosensory device give console publication instruction, while console by this
Instruction passes to onboard system；Host computer can protect the data collected by computer monitor after being connected to instruction
It deposits, show and playbacks.
The another object of the utility model is to provide a kind of carrying hull bottom intelligence underwater cleaning robot control system
The hull bottom intelligence underwater cleaning robot of system, the hull bottom intelligence underwater cleaning robot are provided with electronics storehouse；
There are the transparent semicircle cover of one and Hatch Opening sealing in electronics storehouse forefront；Camera, institute are installed inside the cloche
It states camera and is launched image onto computer monitor by connection raspberry pie；
Fly control and the equilibrium state of body is communicated to by computer monitor by the raspberry pie；
The winged control is divided into data storage, and external communication, driver, balance control, information receives and five big portions of transmitting
Point.
Eight propellers of the winged control connection underwater human organism, carry out channel layout to eight propellers,
Computer is sent a signal to by the raspberry pie again；
Water proof switch is installed on the sealing cover at electronics storehouse rear portion；
Cable passes through the sealing cover, and one end connects raspberry pie, and the other end connects computer；
The battery compartment is equipped with control cleaning brush rotation, and the electricity of caterpillar drive is adjusted, and provides electric current for all electric appliances
Power supply.
Further, the cleaning brush is using finer wire as the annular brush head of material, brush back side mounting flange and fixation
In on waterproof machine axis；Brush finish is parallel and the 1cm that is above the ground level, connection motor are fixed on two sides in front of the frame of body upper layer.
Further, the giant is two spray heads of harpoon type, is fixed on immediately ahead of body lower layer frame；Pass through electricity
Water pump in the storehouse of pond carries out pressure exchange, sprays the water of high flow rate, and removal work is completed together with cleaning brush；
There is the electricity of the control cleaning brush, giant, crawler belt to adjust in battery compartment first half storehouse；It will be described in later half storehouse
Water pump is disposed across the midline position of warehouse, and in corresponding position aperture, water is introduced the water pump by water pipe；
For the Athey wheel by four carrying rollers, a driving wheel is assembled；Four are combined into, chassis corresponding positions are mounted on
It sets.
The another object of the utility model is to provide a kind of ocean for carrying the hull bottom intelligence underwater cleaning robot
Oil pipeline inspection machine people.
The another object of the utility model be to provide it is a kind of carry the hull bottom intelligence underwater cleaning robot across river
Or cross a river pipe inspection robot.
In conclusion the advantages of the utility model and good effect are as follows:
Because control system will be completed to lead to the USB serial ports of navigation attitude instrument, upper control machine, driving plate within a control period
Letter.Since the environment of underwater robot operation is complicated, it is necessary to determine suitable control period and communication wave rate by testing.This
Respectively with 100ms, 200ms is the control period for experiment, as shown in the figure come the different data that measures each system
Communication cycle and baud rate
After tested, when but control cycle time is 100ms, control system more can stable operation.
In addition to testing robot navigation, there are also the recycling tasks to robot to test, this experiment is respectively with 0kn, 1kn
Flow velocity and different initial bows measure the probability of recycling success of underwater robot to angle.
| Simulate flow velocity/kn | Initial bow is to angle/() | Experiment number | Number of success | Success rate % |
| 0 | 30 | 10 | 10 | 100% |
| 0 | 60 | 10 | 10 | 100% |
| 0 | 90 | 10 | 9 | 90% |
| 1 | 30 | 10 | 10 | 100% |
| 1 | 60 | 10 | 8 | 80% |
| 1 | To 90 | 10 | 9 | 90% |
Docking and recovery experiment record
Since underwater robot has good horizontal movement ability, though initial bow is larger to angle variation angle, but
The success rate of docking is up to 90%.
The utility model is multi-crossed disciplines with the product with design, be related to automatically controlling, Machine Design and processing,
The knowledge such as sensor, underwater communication, image procossing are used cooperatively.
The intelligent control technology of the utility model is the independence for improving underwater robot, complete in complicated marine environment
At various tasks.The architecture of intelligent control technology is artificial intelligence technology, integrated and sonar including various control technologies
What robot running was completed in system cooperation is the crawler body of this patent.It is related between the selection of basic module, module
Relationship, data (information) and control stream, communication interface agreement, the management of global information resource and overall scheduling institution.
The utility model can make body carry out 90 degree of inclinations by propeller, attach it alow, then cooperate with crawler belt
Making it, alow surface is moved；Start cleaning brush and giant and each orientation cleaning is carried out to hull bottom.
Detailed description of the invention
Fig. 1 is hull bottom intelligence underwater cleaning robot schematic illustration provided by the embodiment of the utility model.
Fig. 2 is hull bottom intelligence underwater cleaning robot outside schematic diagram provided by the embodiment of the utility model.
Fig. 3 is winged control connection schematic diagram provided by the embodiment of the utility model.
Fig. 4 is propeller connection schematic diagram provided by the embodiment of the utility model.
In figure: 1-1, propeller；1-2, transparent semicircle cover；1-3, camera；1-4, raspberry pie；1-5, fly control；1-6, control
Cleaning brush processed.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, with reference to embodiments, to this
Utility model is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain that this is practical
It is novel, it is not used to limit the utility model.
The utility model is multi-crossed disciplines with the product with design, be related to automatically controlling, Machine Design and processing,
The knowledge such as sensor, underwater communication, image procossing are used cooperatively.
Such as Fig. 1, hull bottom intelligence underwater cleaning robot control system provided by the embodiment of the utility model, comprising:
Onboard system, the motion control for real-time perfoming underwater robot；
PC image terminal is connect with onboard system signal, for directly controlling underwater after being connected to onboard system instruction
The operation of people, and control instruction feedback is passed into onboard system, and the data collected are saved, shown and returned
It broadcasts.
PC image terminal includes the host computer that is formed of PC machine and console to slave computer；Slave computer is direct after being connected to instruction
Control the operation of underwater robot；It issues and instructs to console by mouse, somatosensory device, while console transmits this instruction
To onboard system；Host computer is saved, shown and is playbacked to the data collected from integrated computer monitor.
Hull bottom intelligence underwater cleaning robot control method provided by the embodiment of the utility model includes:
Automatic control, sensor, underwater communication, image procossing are used cooperatively.
The application of the utility model is further described below with reference to concrete analysis.
Such as Fig. 2-Fig. 4, underwater robot provided by the embodiment of the utility model, the underwater robot frame is eight sides
Body move in water by eight propeller 1-1.There are the transparent semicircle cover 1- of one and Hatch Opening sealing in electronics storehouse forefront
2, camera 1-3 is installed in the cloche inside, and the camera is launched image to computer screen by connection raspberry pie 1-4
On, fly control 1-5 also by the raspberry pie and the equilibrium state of body is communicated to computer.Eight of the winged control connection body push away
Into device, channel layout is carried out to eight propellers, then computer is sent a signal to by the raspberry pie.Electronics storehouse rear portion
Sealing cover on water proof switch is installed.Cable passes through the sealing cover, and one end connects raspberry pie, and the other end connects computer.It is described
Battery compartment is equipped with control cleaning brush 1-6 rotation, and the electricity of caterpillar drive is adjusted, and provides the power supply of electric current for all electric appliances.To institute
Cleaning brush is stated, the motor of crawler belt carries out water-proofing treatment.
As the preferred embodiment of the utility model, the cleaning brush is using finer wire as the annular brush head of material, the brush
Sub- back side mounting flange is simultaneously fixed on waterproof machine axis.Brush finish is parallel and the 1cm that is above the ground level, connection motor are fixed on body
Two sides in front of layer frame
As the preferred embodiment of the utility model, the giant is two spray heads of harpoon type, is fixed on body
Immediately ahead of lower layer's frame.Pressure exchange is carried out by the water pump in battery compartment, sprays the water of high flow rate.It is completed together with cleaning brush
Remove work.
As the preferred embodiment of the utility model, there are the control cleaning brush, high pressure water in battery compartment first half storehouse
The electricity tune of rifle, crawler belt.The midline position that the water pump is disposed across to warehouse in later half storehouse passes through water pipe in corresponding position aperture
Water is introduced into the water pump.
As the preferred embodiment of the utility model, for the Athey wheel by four carrying rollers, a driving wheel is assembled.
Four are combined into, chassis corresponding position is mounted on.
Working principle:
As Fig. 1 can be more steady, efficient when the robot of the utility model executes water-bed inspection (such as pipeline tour)
Ground operation, and be easier to carry out Underwater Navigation compared to the robot that swims, it is not interfered vulnerable to underwater current.This underwater robot is using company
The kinematic system that the mode that bar and multi-pass interlink constitutes robot body's frame six degree of freedom is high-efficient, control is flexibly steady
Fixed, cooperation underwater propeller can water surface free movement under water.Floating mode uses propeller inverse design, considerably increases
Stability, highly effective.Control System Design scheme uses the vehicle-mounted master control system of ROV.
The vehicle-mounted master control system of ROV is based on the Samsung S3C2440A of arm9 core as host processor chip, insertion
LINUX operating system has superpower operational capability, being capable of real-time perfoming motion control arithmetic.The onboard 64M of master board
SDRAM；
On this basis, based on this structural framing, underwater tour function is developed, such as marine oil pipeline inspection；Across
A series of applications such as river, cross a river pipe inspection.
This system further includes that the host computer that is formed of PC machine and console is issued slave computer and instructed, and slave computer is being connected to instruction
The operation for directly controlling trolley afterwards is issued to console by mouse, somatosensory device etc. and is instructed, while console passes this instruction
Pass onboard system.The data collected can be saved, shown and be playbacked from computer monitor.
Motor parameters value are as follows:
。
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (3)
1. a kind of hull bottom intelligence underwater cleaning robot, which is characterized in that the hull bottom intelligence underwater cleaning robot is provided with
Electronics storehouse；
There are the transparent semicircle cover of one and Hatch Opening sealing in electronics storehouse forefront；Camera, the camera are installed inside cloche
Image is launched onto computer screen display by connection raspberry pie；
Fly control and the equilibrium state of body is communicated to by computer monitor by the raspberry pie；
The winged control is divided into data storage, and external communication, driver, balance control, information receives and transmitting five is most of；
Eight propellers of the winged control connection underwater human organism, carry out channel layout to eight propellers, then lead to
It crosses the raspberry pie and sends a signal to computer；
Water proof switch is installed on the sealing cover at electronics storehouse rear portion；
Cable passes through the sealing cover, and one end connects raspberry pie, and the other end connects computer；
Battery compartment is equipped with control cleaning brush rotation, and the electricity of caterpillar drive is adjusted, and provides the power supply of electric current for all electric appliances.
2. hull bottom intelligence underwater cleaning robot as described in claim 1, which is characterized in that the cleaning brush is with finer wire
The annular brush head of material, brush back side mounting flange are simultaneously fixed on waterproof machine axis；Brush finish is parallel and the 1cm that is above the ground level, even
It connects motor and is fixed on two sides in front of the frame of body upper layer.
3. hull bottom intelligence underwater cleaning robot as described in claim 1, which is characterized in that giant is the two of harpoon type
A spray head is fixed on immediately ahead of body lower layer frame；Pressure exchange is carried out by the water pump in battery compartment, sprays high flow rate
Water completes removal work together with cleaning brush；
There is the electricity of the control cleaning brush, giant, crawler belt to adjust in battery compartment first half storehouse；By the water pump in later half storehouse
It is disposed across the midline position of warehouse, in corresponding position aperture, water is introduced by the water pump by water pipe；
For Athey wheel by four carrying rollers, a driving wheel is assembled；Four are combined into, chassis corresponding position is mounted on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821864341.3U CN208985011U (en) | 2018-11-13 | 2018-11-13 | A kind of hull bottom intelligence underwater cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821864341.3U CN208985011U (en) | 2018-11-13 | 2018-11-13 | A kind of hull bottom intelligence underwater cleaning robot |
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| CN208985011U true CN208985011U (en) | 2019-06-14 |
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| CN201821864341.3U Expired - Fee Related CN208985011U (en) | 2018-11-13 | 2018-11-13 | A kind of hull bottom intelligence underwater cleaning robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434876A (en) * | 2019-08-09 | 2019-11-12 | 南京工程学院 | A kind of six degree of freedom ROV driving simulation system and its analogy method |
| CN112845275A (en) * | 2020-08-06 | 2021-05-28 | 天津深之蓝海洋设备科技有限公司 | Underwater cleaning robot system |
| CN112952637A (en) * | 2021-01-22 | 2021-06-11 | 中国船舶科学研究中心 | Cleaning and hanging tool for buried submarine cables and operation method thereof |
-
2018
- 2018-11-13 CN CN201821864341.3U patent/CN208985011U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434876A (en) * | 2019-08-09 | 2019-11-12 | 南京工程学院 | A kind of six degree of freedom ROV driving simulation system and its analogy method |
| CN110434876B (en) * | 2019-08-09 | 2024-03-22 | 南京工程学院 | Six-degree-of-freedom ROV simulation driving system and simulation method thereof |
| CN112845275A (en) * | 2020-08-06 | 2021-05-28 | 天津深之蓝海洋设备科技有限公司 | Underwater cleaning robot system |
| CN112952637A (en) * | 2021-01-22 | 2021-06-11 | 中国船舶科学研究中心 | Cleaning and hanging tool for buried submarine cables and operation method thereof |
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| GR01 | Patent grant | ||
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Granted publication date: 20190614 Termination date: 20191113 |