CN210083508U - Modularized underwater robot based on integrated vector thruster - Google Patents
Modularized underwater robot based on integrated vector thruster Download PDFInfo
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- CN210083508U CN210083508U CN201920903053.2U CN201920903053U CN210083508U CN 210083508 U CN210083508 U CN 210083508U CN 201920903053 U CN201920903053 U CN 201920903053U CN 210083508 U CN210083508 U CN 210083508U
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Abstract
The utility model discloses a modularization underwater robot based on integrated form vector propeller to underwater robot system is the carrier platform, its ROV motion platform carries the quality of water sensor and snatchs the manipulator, an emergent removal that is used for the river detects and periodic safety is patrolled and examined, can reach the appointed node or the section of river relatively rapidly and carry out on-the-spot water sample collection and analysis, snatch solid pollutant, for example in the radiation material of nuclear power station and the river abandonment battery package etc. it all can exert the advantage in the aspect of the prevention of river pollution and improvement.
Description
Technical Field
The utility model relates to a detection device is exactly a modularization underwater robot based on integrated form vector propeller.
Background
Since the 21 st century, advances in industry have led to economic prosperities and improvements in the quality of human life, but have also paid the price of various environmental pollution, especially water pollution. According to the investigation, nearly 80% of rivers are polluted to different degrees, and 75% of freshwater lakes are polluted to a moderate level, so that eutrophication occurs. The pollution degree of the river changes along with time, and the diffusion is fast, so that the pollution influence is large. Therefore, river pollution has the problems that water quality is difficult to detect and pollution is difficult to treat.
At present, laboratory detection is the most conventional detection means, and workers sample and package preset sections or nodes, send the samples back to a laboratory, and precisely measure various parameters of water quality through professional instruments. The traditional laboratory detection has the following defects and shortcomings:
① a laboratory with perfect equipment and a group of professional technical talents are required to be established, which increases the equipment cost and the labor cost;
②, the detection period is long, the data acquisition and transmission are slow, and the sudden water pollution event cannot be dealt with.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a modularization underwater robot based on integrated form vector propeller, it uses underwater robot system as the carrier, carries the quality of water sensor and snatchs the manipulator for the emergent removal of river detects and periodic safety is patrolled and examined, can reach the appointed node or the section of river relatively rapidly and carry out on-the-spot water sample collection and analysis, snatch solid pollutant, for example in the radiation material of nuclear power station and the river abandonment battery package etc. mobility is strong, measuring range is wide.
In order to solve the above technical problem, the utility model discloses a following technical means:
a modularized underwater robot based on an integrated vector thruster comprises a carrier platform, a communication module and a ground station upper computer, wherein the carrier platform is an ROV (remote operated vehicle) motion platform, and the communication module is respectively connected with the ROV motion platform and the ground station upper computer and is used for transmitting control signals of the ROV motion platform and the ground station upper computer and transmitting acquired data of the ROV motion platform and the ground station upper computer;
the ROV motion platform is provided with a rack, and an electronic control cabin, a power supply cabin, a propeller, a buoyancy block, an integrated water quality sensor and an underwater grabbing manipulator which are fixedly connected through the rack;
the electronic control cabin is a metal sealed cabin body, a high-definition camera, a Pixhawk, a raspberry group and a depth sensor are arranged in the electronic control cabin, pictures collected by the high-definition camera are processed and identified through the raspberry group to identify types and positions of solid pollutants suspended in water, and return to a ground station upper computer control system through a communication module for autonomous control of an underwater grabbing manipulator, the Pixhawk is provided with a 3-axis digital 16-bit gyroscope, a 3-axis 14-bit accelerometer and a magnetometer for attitude estimation, and the depth sensor resolves a pressure value into depth information; the electronic control cabin is a control center of the ROV, an internal circuit board is fixed through an acrylic supporting plate and then sealed through a double-O-shaped ring, meanwhile, AB glue is poured into a cabin cover through thread threaded hole to prevent water leakage, a water tightness experiment needs to be carried out after sealing is finished, the electronic control cabin is determined to be completely sealed, and finally the electronic control cabin is fixed on a carrier frame through two semicircular fixing rings; the power supply cabin is an energy source of an ROV and comprises a 6s4p lithium battery pack with the capacity of 10400mAh, a battery is packaged in an aluminum alloy battery cabin with the length of 200mm and the outer diameter of 90mm, the aluminum alloy battery cabin is sealed by adopting an O-shaped ring and is fixed on a frame through two semicircular fixing rings, a power supply interface is reserved outside the aluminum alloy battery cabin and is connected with an electronic control cabin, and a 400-meter pressure-proof watertight joint is adopted as a power supply joint so as to ensure the waterproof capacity of the battery; the propellers are used as power modules of the ROV, six propellers are connected and fixed on the rack through bolts, the four propellers on the horizontal plane are arranged in a 45-degree vector mode, and the two propellers on the vertical plane are symmetrically arranged relative to the axis.
The integrated water quality sensor collects the conductivity, turbidity, dissolved oxygen concentration, PH value and temperature data of the river; the integrated water quality sensor is a sensing module of an ROV (remote operated vehicle), is used for detecting the condition of water quality, is fixed on a bottom plate of a frame through a screw, and a data wire enters an electronic control cabin through a cabin penetrating bolt to finish the transmission of water quality information;
the underwater grabbing manipulator grabs the solid pollutants; the underwater grabbing manipulator is an execution module of an ROV (remote operated vehicle), has six degrees of freedom, is driven by a steering engine, and is connected with a steering engine support through a support and fixed at the front end of a frame so as to grab solid pollutants conveniently.
Compared with the prior art, the outstanding characteristics are that:
the underwater mobile detection system takes an underwater robot system as a carrier, carries a water quality sensor and a grabbing manipulator, is used for emergency mobile detection and periodic safety inspection of rivers, can quickly reach a designated node or a section of the river to carry out on-site water sample collection and analysis, and grabs solid pollutants, such as a radiation material of a nuclear power station, a waste battery pack in the river and the like, and has strong maneuverability and wide measurement range. The technical scheme performs standard modular analysis and construction design on the ROV, improves the reliability and waterproof capability of the ROV, and is beneficial to the expansion of the ROV function.
The further preferred technical scheme is as follows:
the communication module comprises a zero-buoyancy cable, a navigation module and a power carrier module, the communication module is manually controlled to communicate with the power carrier module through the zero-buoyancy cable, and the autonomous cruise working mode is used for communicating with the navigation module through the zero-buoyancy cable and autonomous cruise.
The communication module is responsible for data transmission of water quality information, and transmits the conductivity, turbidity, dissolved oxygen concentration, PH value and temperature data of the river collected by the ROV moving platform to the ground station upper computer by adopting a TCP protocol.
The power supply cabin is an aluminum alloy sealed cabin body, the power supply cabin supports the working depth of 300 meters, a lithium battery power supply is contained in the power supply cabin, the discharging capacity is 40A, and the capacity is 10400 mAh.
The frame adopt high density polyethylene board to carry out machine tooling, through M4 bolted connection between the frame board, for preventing the bolt slippage in aqueous, the screw thread glue is all smeared to each junction.
The buoyancy block is used for carrying out fine adjustment when underwater balance is carried out, so that the gravity borne by the ROV is equal to the buoyancy. The air bag is arranged in the middle of the buoyancy block, the size of the air bag can be changed through inflation to change the drainage volume of the ROV, and then the buoyancy of the ROV is finely adjusted to be equal to the gravity.
The underwater grabbing manipulator is driven by a waterproof steering engine and has six degrees of freedom.
The underwater grabbing manipulator is controlled to adopt autonomous grabbing, autonomously grabbing is carried out on target pollutants according to the position of the solid pollutants fed back by the high-definition camera, and the target pollutants are temporarily stored in the storage box.
Drawings
Fig. 1 is a system configuration diagram of an embodiment of the present invention;
FIG. 2 is a structural diagram of the ROV motion platform of the present invention;
fig. 3 is a vector layout diagram of the propeller of the present invention;
in the figure: an ROV motion platform; 2. a communication module; 3. a ground station upper computer; 4. an electronic control cabin; 5. a power supply compartment; 6. a propeller; 7. a frame; 8. a buoyancy block; 9. an integrated water quality sensor; 10. snatch the manipulator under water.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
Referring to fig. 1, a modular underwater robot based on an integrated vector thruster includes an ROV motion platform 1, a communication module 2, and a ground station upper computer 3. The ROV motion platform 1 can receive an action instruction of a ground upper computer, realizes advancing and retreating, lateral moving, submerging and floating and yawing motion, and has the capabilities of keeping and adjusting postures of depth fixing, navigation fixing and the like. The ROV moving platform 1 meets the requirement of detecting and sampling system movement, and ensures that the detecting and sampling system has strong maneuverability. The working water depth of the ROV motion platform 1 is 100m, the horizontal plane motion speed is 1m/s, the vertical plane motion speed is 0.5m/s, the depth setting precision is +/-0.1 m, the cruise setting precision is +/-3 degrees, the endurance time is 3 hours, and the system delay is less than 100 ms. The performance indexes ensure the continuity and the accuracy of river water quality detection.
Referring to fig. 2, the ROV moving platform 1 is of an open-frame structure and is composed of an electronic control cabin 4, a power supply cabin 5, a propeller 6, a rack 7, a buoyancy block 8, an integrated water quality sensor 9 and an underwater grabbing manipulator 10. The electronic control cabin 4 is an aluminum alloy sealed cabin body, and the inside of the electronic control cabin mainly comprises: high definition camera, Pixhawk, raspberry pi and depth sensor. The power supply cabin 5 is an aluminum alloy sealed cabin body, supports a working depth of 300 meters, and contains a lithium battery power supply inside, the discharge capacity is 40A, and the capacity is 10400 mAh. The frame 7 is made of HDPE, mainly provides a mounting platform for other parts of the ROV, and plays a role in supporting and protecting. The buoyancy block 8 is used for fine adjustment during underwater leveling, so that the gravity borne by the ROV is approximately equal to the buoyancy. The integrated water quality sensor 9 can collect conductivity, turbidity, dissolved oxygen concentration, PH and temperature data of the river. The underwater grabbing manipulator 10 is driven by a waterproof steering engine, has six degrees of freedom, and can grab solid pollutants, such as radiation materials of nuclear power stations and waste battery packs in rivers.
The underwater grabbing device is composed of an electronic control cabin 4, a power supply cabin 5, a propeller 6, a rack 7, a buoyancy block 8, an integrated water quality sensor 9 and an underwater grabbing manipulator 10.
The electronic control cabin 4 is a control center of an ROV, an internal circuit board is fixed through an acrylic supporting plate and then sealed by a double-O-shaped ring, meanwhile, AB glue is poured into a cabin cover through thread threaded hole to prevent water leakage, a water tightness experiment needs to be carried out after sealing is finished, the electronic control cabin 4 is determined to be completely sealed, and finally the electronic control cabin is fixed on a carrier frame through two semicircular fixing rings; the power supply cabin 5 is an energy source of an ROV and comprises a 6s4p lithium battery pack with the capacity of 10400mAh, a battery is packaged in an aluminum alloy battery cabin with the length of 200mm and the outer diameter of 90mm, the aluminum alloy battery cabin is sealed by adopting an O-shaped ring and is fixed on a frame through two semicircular fixing rings, a power supply interface is reserved outside the aluminum alloy battery cabin and is connected with the electronic control cabin 4, and the power supply connector adopts a 400-meter pressure-proof watertight connector to ensure the waterproof capacity of the battery; the propellers 6 are used as power modules of the ROV, six propellers are fixedly connected on the frame 7 through bolts, four propellers 6 on the horizontal plane are arranged in a 45-degree vector mode, and two propellers 6 on the vertical plane are symmetrically arranged around the axis. The integrated water quality sensor 9 is a sensing module of an ROV and is used for detecting the condition of water quality and is fixed on a bottom plate of the frame through screws, and a data wire enters the electronic control cabin 4 through a cabin penetrating bolt to finish the transmission of water quality information; the underwater grabbing manipulator 10 is an execution module of an ROV, has six degrees of freedom, is driven by a steering engine, and is connected with a steering engine support through a support and fixed at the front end of a frame so as to grab solid pollutants conveniently.
Referring to fig. 3, the arrangement of the propellers 6 is a vector layout, and 6 propellers 6 of 2kgf are selected, wherein the two top and middle right ends are both positive propellers, and the two bottom and middle left ends are both negative propellers. The ROV moves in 6 degrees of freedom such as advancing and retreating, floating and submerging, steering and the like, a pair of propellers 6 are respectively arranged in the axis direction, and each pair of propellers 6 can realize rotary motion by taking the same or opposite directions.
The communication module supports two working modes of cable control and autonomous cruising, realizes the transmission of the collected data of the water quality sensor and the ground upper computer, and adopts a TCP protocol to transmit the collected conductivity, turbidity, dissolved oxygen concentration, PH value and temperature data of the river to the ground station upper computer 3 in real time. And transmitting control signals of the ROV motion platform 1 and the ground upper computer. The cabled control mode of operation utilizes a zero-buoyancy cable and a power carrier module to communicate. The autonomous cruise mode utilizes the wireless communication and navigation module for communication and autonomous cruise. The method can be used for emergency mobile detection and periodic safety inspection of rivers in various working environments, has stronger robustness on complicated river interference, and has stronger functionality and intelligence while ensuring stability.
The ground station upper computer 3 has the functions of controlling the motion of the ROV motion platform 1, analyzing and displaying water quality information and controlling the underwater grabbing manipulator 10. The motion control of the ROV motion platform 1 has two modes of autonomous cruise and manual control, the autonomous cruise is used for periodic safety inspection of rivers, and the manual control is used for emergency mobile detection to deal with emergency situations. The ROV motion platform 1 motion control interface displays and monitors the motion state and video signals transmitted by the detection sampling system through the communication module, and alarms when the system operation parameters are abnormal. And the analysis and display of the water quality information adopt Labview graphical programming language to analyze, process and display the conductivity, turbidity, dissolved oxygen concentration, PH value and temperature data of the river collected by the water quality sensor. Snatch the manipulator 10 control under water and adopt independently to snatch, according to the position of the solid contaminant that high definition digtal camera fed back, snatch the manipulator 10 under water and independently snatch the target contaminant to deposit temporarily and accomodate the box.
When the detection sampling system is used for emergency mobile detection to cope with emergency situations, the communication module is in a cabled control working mode, and the motion of the underwater robot carrier platform can be controlled through a manual control mode. Under the manual control mode, the motion of the underwater robot carrier platform can be made into fixed navigation motion and fixed depth motion under the manual mode, on the basis of the two motions, the detection sampling system can move in different depth gradients in the river, and an operator can manually control the detection sampling system to rapidly reach a designated node or a section of the river to carry out on-site water sample collection and analysis. The water quality sensor collects the conductivity, turbidity, dissolved oxygen concentration, PH value and temperature data of the river to be analyzed and processed, and the TCP protocol is adopted to transmit the water quality information to the upper computer 3 of the ground station. The type and the position of suspended solid pollutants in water are identified by combining an LED underwater illuminating lamp and a high-definition camera through raspberry group processing, and the type and the position are returned to a control system of a ground station upper computer 3 through a communication module for controlling the underwater grabbing manipulator 10. The above process completes the functions of detecting water quality and treating pollutants during the emergency mobile detection of the detection sampling system.
When the detection sampling system is used for periodic safety inspection of rivers, the communication module is in an autonomous cruising working mode of the communication module, the underwater robot carrier platform moves to periodically cruise for a long time according to a set route to inspect the water quality condition of the rivers, the water quality sensor acquires the conductivity, the turbidity, the dissolved oxygen concentration, the PH value and the temperature data of the rivers to perform analysis processing, and a TCP protocol is adopted to transmit the water quality information to the ground station upper computer 3. And if the water quality is abnormal, the upper computer displays an alarm, and sends the coordinates of the area and the abnormal water quality message to a related person in charge for further processing. When detecting the solid pollutant that the sampling system met aquatic suspension, according to the position of the solid pollutant that high definition digtal camera fed back, snatch manipulator 10 under water and independently snatch the target pollutant to deposit temporarily and accomodate the box. The process completes the functions of automatically detecting water quality and treating pollutants when the periodic safety inspection of the river of the sampling system is carried out.
The above contents are only for explaining the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical solution according to the technical idea of the present invention all fall within the protection scope of the claims of the present invention.
Claims (8)
1. The utility model provides a modularization underwater robot based on integrated form vector propeller, includes carrier platform, communication module and ground station host computer, its characterized in that: the carrier platform is an ROV (remote operated vehicle) motion platform, and the communication module is respectively connected with the ROV motion platform and the ground station upper computer and is used for transmitting control signals of the ROV motion platform and the ground station upper computer and transmitting acquired data of the ROV motion platform and the ground station upper computer;
the ROV motion platform is provided with a rack, and an electronic control cabin, a power supply cabin, a propeller, a buoyancy block, an integrated water quality sensor and an underwater grabbing manipulator which are fixedly connected through the rack;
the electronic control cabin is a metal sealed cabin body, a high-definition camera, a Pixhawk, a raspberry group and a depth sensor are arranged in the electronic control cabin, pictures collected by the high-definition camera are processed and identified through the raspberry group to identify types and positions of solid pollutants suspended in water, and return to a ground station upper computer control system through a communication module for autonomous control of an underwater grabbing manipulator, the Pixhawk is provided with a 3-axis digital 16-bit gyroscope, a 3-axis 14-bit accelerometer and a magnetometer for attitude estimation, and the depth sensor resolves a pressure value into depth information;
the integrated water quality sensor collects the conductivity, turbidity, dissolved oxygen concentration, PH value and temperature data of the river;
and the underwater grabbing manipulator grabs the solid pollutants.
2. The integrated vector thruster-based modular underwater robot of claim 1, wherein: the communication module comprises a zero-buoyancy cable, a navigation module and a power carrier module, the communication module is manually controlled to communicate with the power carrier module through the zero-buoyancy cable, and the autonomous cruise working mode is used for communicating with the navigation module through the zero-buoyancy cable and autonomous cruise.
3. The integrated vector thruster-based modular underwater robot of claim 1, wherein: the communication module is responsible for data transmission of water quality information, and transmits the conductivity, turbidity, dissolved oxygen concentration, PH value and temperature data of the river collected by the ROV moving platform to the ground station upper computer by adopting a TCP protocol.
4. The integrated vector thruster-based modular underwater robot of claim 1, wherein: the power supply cabin is an aluminum alloy sealed cabin body, the power supply cabin supports the working depth of 300 meters, a lithium battery power supply is contained in the power supply cabin, the discharging capacity is 40A, and the capacity is 10400 mAh.
5. The integrated vector thruster-based modular underwater robot of claim 1, wherein: the frame is an HDPE frame.
6. The integrated vector thruster-based modular underwater robot of claim 1, wherein: the buoyancy block is used for carrying out fine adjustment when underwater balance is carried out, so that the gravity borne by the ROV is equal to the buoyancy.
7. The integrated vector thruster-based modular underwater robot of claim 1, wherein: the underwater grabbing manipulator is driven by a waterproof steering engine and has six degrees of freedom.
8. The integrated vector thruster-based modular underwater robot of claim 1, wherein: the underwater grabbing manipulator is controlled to adopt autonomous grabbing, autonomously grabbing is carried out on target pollutants according to the position of the solid pollutants fed back by the high-definition camera, and the target pollutants are temporarily stored in the storage box.
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| CN201920903053.2U CN210083508U (en) | 2019-06-17 | 2019-06-17 | Modularized underwater robot based on integrated vector thruster |
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| CN201920903053.2U CN210083508U (en) | 2019-06-17 | 2019-06-17 | Modularized underwater robot based on integrated vector thruster |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277034A (en) * | 2021-05-18 | 2021-08-20 | 江苏科技大学 | Underwater robot for marine product fishing |
| CN113721635A (en) * | 2021-09-14 | 2021-11-30 | 江苏理工学院 | Photoelectrochemistry chlorine salt removing underwater robot |
| CN113968326A (en) * | 2021-09-26 | 2022-01-25 | 西安交通大学 | Vector frame type underwater robot |
-
2019
- 2019-06-17 CN CN201920903053.2U patent/CN210083508U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277034A (en) * | 2021-05-18 | 2021-08-20 | 江苏科技大学 | Underwater robot for marine product fishing |
| CN113721635A (en) * | 2021-09-14 | 2021-11-30 | 江苏理工学院 | Photoelectrochemistry chlorine salt removing underwater robot |
| CN113968326A (en) * | 2021-09-26 | 2022-01-25 | 西安交通大学 | Vector frame type underwater robot |
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