CN213062166U - Autonomous and remote control type underwater dredging robot - Google Patents
Autonomous and remote control type underwater dredging robot Download PDFInfo
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- CN213062166U CN213062166U CN202021560343.0U CN202021560343U CN213062166U CN 213062166 U CN213062166 U CN 213062166U CN 202021560343 U CN202021560343 U CN 202021560343U CN 213062166 U CN213062166 U CN 213062166U
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Abstract
The utility model relates to an autonomous and remote control type underwater dredging robot, which comprises a main controller and a water surface floating ball device, wherein the input end of the main controller is connected with the underwater dredging device, an underwater propeller, an underwater positioning device and an underwater obstacle avoidance device, the output end of the main controller is connected with an underwater wireless communication device, and the output end of the underwater wireless communication device is connected with the water surface floating ball device through an antenna; the underwater dredging robot adopts the underwater positioning device, the underwater obstacle avoidance device and the sharing control algorithm based on the artificial potential field, and realizes the autonomous walking, autonomous obstacle avoidance and underwater accurate positioning of the underwater dredging robot; the utility model adopts the wireless communication device, which gets rid of the limitation of the traditional underwater wired cable to the working range of the underwater dredging robot; the utility model discloses have two kinds of control mode of manual remote control and autonomous movement, can realize independently walking, independently keep away functions such as barrier, can independently realize underwater desilting work under the condition of unmanned intervention, intelligent degree promotes greatly.
Description
Technical Field
The utility model belongs to the technical field of desilting robot under water, concretely relates to independently with remote control formula desilting robot under water.
Background
At present, the main dredging mode aiming at some large, medium and small water reservoirs is to pump water in the water reservoir completely, then special operators enter a water area to be dredged to drive sludge water into a sludge storage pool or a tank car, and finally a sludge pump is used for pumping sewage in a water collecting pit. The amount of work done in this way is not only enormous but also dangerous for manual work. Especially for some indoor water reservoirs, some large-scale dredging mechanical equipment can not enter and can not carry out mechanized operation, thereby greatly reducing the working efficiency.
Application number 201811459453.5 discloses a screw drive formula desilting robot that swings about having the orbit function of correcting, this underwater desilting robot adopts screw drive submarine formula mode of marcing and the formula desilting mode of swinging about to carry out the collection and the pump sending of silt to accomplish desilting work. However, the underwater dredging robot can only carry out dredging operation in a remote control mode, and can not realize the functions of autonomous path planning, autonomous walking and autonomous obstacle avoidance, so that the working efficiency of the underwater dredging robot is greatly reduced.
Application number 201521057118.4's patent has announced a desilting robot under water, has realized the desilting robot under water desilting, but this desilting robot under water links to each other through waterproof cable with the host computer on the bank and communicates, has so restricted the working range of desilting robot under water greatly, has brought the inconvenience for desilting work.
SUMMERY OF THE UTILITY MODEL
The utility model provides an autonomous and remote control type underwater dredging robot, which can efficiently carry out underwater dredging operation without being limited by places, and the robot replaces manpower, thereby reducing the cost and improving the working efficiency; this device combines together through remote control formula and autonomous movement formula, has realized remote control, the autonomous control to the desilting robot under water for the work efficiency of desilting robot under water promotes by a wide margin.
The utility model provides a technical scheme that its technical problem adopted is: the utility model provides an independently with remote control formula desilting robot under water, includes the support, desilting device, control storehouse under water wireless communication device, telescopic link, surface of water floater device, battery compartment, two sets of underwater propulsors, keep away barrier device, camera and the light under water, wherein:
the support is arranged above the underwater dredging device and is provided with an upper layer and a lower layer, the control bin, the telescopic rod and the underwater wireless communication device are arranged on the upper layer of the support, the underwater wireless communication device consists of a wireless data transmission module and a wireless image transmission module, one end of each of the wireless data transmission module and the wireless image transmission module is connected with the control bin, and the other end of each of the wireless data transmission module and the wireless image transmission module is connected with the water surface floating ball device arranged at the top of the telescopic rod through an antenna;
the underwater dredging robot is characterized in that the battery bin, the underwater propellers, the underwater obstacle avoidance device, the underwater camera and the underwater illuminating lamp are arranged above the lower layer of the support, the battery bin supplies kinetic energy to the control bin and the underwater propellers, and the output end of the underwater obstacle avoidance device, the shooting direction of the underwater camera and the irradiation direction of the underwater illuminating lamp face the advancing direction of the underwater dredging robot.
As the utility model discloses a further preferred, the underwater dredging device includes desilting box, the dragon of smashing, desilting brush, desilting pipeline and soil pick-up pump, the desilting box is installed the support bottom, the dragon of smashing is installed desilting bottom of the box portion, the soil pick-up pump set up in inside the desilting box, the desilting brush with the desilting pipeline all set up in the desilting box is towards on the outer wall of the underwater desilting robot direction of advance.
As a further preferred, underwater propulsor installation direction all with underwater desilting robot direction of advance outside environment skew part.
As the utility model discloses a further preferred, still include main control unit, attitude sensor, depth sensor and raspberry group coprocessor, main control unit attitude sensor depth sensor and raspberry group coprocessor all install in the control cabin, attitude sensor depth sensor raspberry group coprocessor all with main control unit connects.
As the utility model discloses a further preferred, the desilting brush the tamping dragon the soil pick-up pump the desilting pipeline, two sets of underwater propulsor keep away the barrier device under water wireless communication device under water the camera and under water the light all with the master controller is connected.
As the utility model discloses a further preferred, still include the location label under water, the location label is installed under water in the control storehouse or install in the surface of water floater device, location label one end under water with main control unit connects, the other end pass through the antenna with the surface of water floater device is connected.
As the utility model discloses a further preferred, still include angle sensor, angle sensor installs in the surface of water floater device, angle sensor one end main control unit connects, the other end pass through the antenna with the surface of water floater device is connected.
Through above technical scheme, for prior art, the utility model discloses following beneficial effect has:
(1) the underwater dredging robot adopts the underwater positioning device, the underwater obstacle avoidance device and the sharing control algorithm based on the artificial potential field, and realizes the autonomous walking, autonomous obstacle avoidance and underwater accurate positioning of the underwater dredging robot;
(2) the utility model can realize the functions of autonomous walking, autonomous obstacle avoidance and the like, can autonomously realize underwater dredging work under the condition of no human intervention, and greatly improves the intelligent degree;
(3) the utility model adopts the wireless data transmission module and the wireless image transmission module to realize the wireless communication between the underwater dredging robot and the onshore upper computer, and get rid of the limitation of the underwater cable to the working range of the underwater dredging robot;
(4) the utility model realizes the remote control and autonomous control of the underwater dredging robot by combining the remote control type and the autonomous movement type, so that the working efficiency of the underwater dredging robot is greatly improved;
(5) the utility model discloses an underwater camera, the light device under water have solved underwater desilting robot's video passback, the illumination problem under water.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a UWB positioning schematic of the present invention;
fig. 3 is a schematic diagram of path planning and obstacle avoidance according to the present invention;
FIG. 4 is a schematic diagram of the autonomous and remote modes of the present invention;
fig. 5 is an overall work flow diagram of the present invention.
In the figure: 1. a support; 10. a control cabin; 11. a battery compartment; 12. a wireless data transmission module; 13. a water surface floating ball device; 14. a wireless image transmission module; 15. a telescopic rod; 16. an underwater propeller; 17. dredging a pipeline; 18. a dredging box; 19. dredging and brushing; 20. a sewage suction pump; 21. an underwater light; 22. an underwater camera; 23. provided is an underwater obstacle avoidance device.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
As shown in figure 1, the autonomous and remote control type underwater dredging robot comprises a support 1 and an underwater dredging device, wherein the support 1 is arranged above the underwater dredging device. The support 1 comprises two vertical supporting plates and two transverse supporting plates, the two vertical supporting plates are arranged along the advancing direction of the underwater dredging robot and are arranged oppositely, and the two transverse supporting plates are arranged between the two vertical supporting plates.
Wherein, the underwater dredging device comprises a dredging box 18, a tamping dragon, a dredging brush 19, a dredging pipeline 17 and a sewage suction pump 20, the dredging box 18 is installed at the bottom of the support 1, the tamping dragon is installed at the bottom of the dredging box 18, the sewage suction pump 20 is arranged inside the dredging box 18, the dredging brush 19 and the dredging pipeline 17 are arranged on the outer wall of the dredging box 18 facing to the advancing direction of the underwater dredging robot.
The underwater dredging device also comprises a control bin 10, an underwater wireless communication device, a telescopic rod 15, a water surface floating ball device 13, a battery bin 11, two groups of underwater propellers 16, an underwater obstacle avoidance device 23, an underwater camera 22 and an underwater illuminating lamp 21, wherein the control bin 10, the telescopic rod 15 and the underwater wireless communication device are arranged above the transverse supporting plate far away from the underwater dredging device, the underwater wireless communication device consists of a wireless data transmission module 12 and a wireless image transmission module 14, the wireless data transmission module 12 and the wireless image transmission module 14 are respectively connected with the control bin 10 through input ends, the telescopic rod 15 is vertically arranged on the transverse supporting plate far away from the underwater dredging device, and the water surface floating ball device 13 is arranged at the top of the telescopic rod 15; install between two horizontal backup pads battery compartment 11, two sets of underwater propulsor 16 obstacle-avoiding device 23 under water camera 22 and light 21 under water, battery compartment 11 gives control cabin 10 and two sets of underwater propulsor 16 provides kinetic energy, obstacle-avoiding device 23 output under water camera 22 shoots the direction and light 21 shines the direction all towards the desilting robot direction of advance under water.
Wherein, the output end of the underwater wireless communication device (i.e. the output ends of the wireless data transmission module 12 and the wireless image transmission module 14) is connected with the water surface floating ball device 13 through an antenna; the mounting direction of the underwater propellers 16 and the advancing direction of the underwater dredging robot deviate towards the external environment, and the two groups of underwater propellers 16 are driven by four waterproof motors; the telescopic rod 15 can stretch and retract to ensure that the water surface floating ball device 13 always exposes out of the water surface.
Example 1
The embodiment provides a preferred implementation scheme, which includes a main controller, an attitude sensor, a depth sensor and a raspberry coprocessor, wherein the main controller, the attitude sensor, the depth sensor and the raspberry coprocessor are all installed in the control cabin 10, and the attitude sensor, the depth sensor and the raspberry coprocessor are all connected with the main controller; the dredging brush 19, the tamping dragon, the sewage suction pump 20, the dredging pipeline 17, the two groups of underwater propellers 16, the underwater obstacle avoidance device 23, the underwater wireless communication device, the underwater camera 22 and the underwater illuminating lamp 21 are all connected with the main controller; still include angle sensor in this embodiment, angle sensor installs inside the surface of water floater device, and with main control unit is connected.
Still include positioner under water in this embodiment, positioner under water adopts UWB location technique, positioner under water includes basic station and underwater location label, the basic station comprises a A basic station, B basic station and C basic station, three the basic station distributes in waiting to desilt three corners in waters, underwater location label install in control storehouse 10, underwater location label with the main control unit delivery outlet passes through IIC protocol connection. As shown in fig. 2, in the data transmission sequence of the underwater positioning device, a computer is connected to the base station a, the base station a and the underwater positioning tag perform ranging, the base station a issues a ranging command to the base station B, the base station B performs ranging with the underwater positioning tag, the base station B returns the measured distance information to the base station a, the base station a issues a ranging command to the base station C, the base station C performs ranging with the underwater positioning tag, the base station C returns the measured distance information to the base station a, and the base station a uses a positioning algorithm to calculate the relative position information of the underwater dredging robot and transmits the information to the computer, thereby completing the positioning of the underwater dredging robot.
In this embodiment, the main controller of the underwater dredging robot selects a Holybro Pixhawk4 controller as a main control unit of the underwater dredging robot, and the main control unit selects an MPU6050 attitude sensor to acquire original data of the body attitude, direction and magnetic field of the underwater dredging robot; and an MS5837 depth sensor is selected to communicate with a Holybro Pixhawk4 controller through an IIC protocol, and the depth data of the underwater desilting robot is collected. The underwater illuminating lamp 21 is connected to a PWM wave output port of a Holybro Pixhawk4 controller, and the brightness of the underwater illuminating lamp 21 is adjusted by adjusting the size of the PWM wave output by the main controller. The underwater camera 22 transmits real-time transmission underwater image information to the main controller, the main controller transmits the information to the wireless image transmission module 14, and the wireless image transmission module 14 transmits the information to a computer through an antenna. The underwater dredging device and the underwater dredging robot move in a coordinated manner, the underwater dredging robot carries the tamping dragon and the dredging brush 19 to brush sludge at the bottom of a water area to be dredged, the underwater dredging robot pumps the sludge through the dredging pipeline 17 to a filter device on the bank, and the filter device discharges the filtered water body into the water area to be dredged. The underwater propeller selects rovmaker 2216 propeller with a VIDAR lithium battery pack as a driving unit of the underwater dredging robot, and the underwater propeller is provided with two groups.
As shown in fig. 5, the main controller analyzes and processes various data information of the underwater dredging robot, and transmits the data to the upper computer of the computer through the underwater wireless communication device. As shown in fig. 4, the underwater dredging robot is provided with an autonomous movement mode and a manual operation mode. Autonomous movement mode: and the underwater dredging robot is subjected to speed and direction adjustment by adopting closed-loop control taking the positioning information as position feedback information, and the driving part of the underwater dredging robot is completed by four waterproof motors. And the underwater dredging robot turns by adopting a two-wheel differential mode. According to the advancing speed of the underwater dredging robot, the underwater positioning device feeds back the position information precision and the cleaning range, and the artificial potential field sharing control algorithm is determined to be adopted to finish the movement tasks of autonomous walking, path planning and the like of the underwater dredging robot. And the manual operation mode is to directly carry out manual remote control on the two groups of propellers and control the motion state of the underwater dredging robot by controlling the PWM wave output by the two groups of underwater propellers.
The underwater obstacle avoidance device 23 adopts a P360 sonar to collect the distance between the underwater dredging robot and the boundary of the water area to be dredged and feed the distance back to the main controller, so that the underwater dredging robot moves along the boundary of the water area to be dredged and completes the dredging task of the boundary of the water area to be dredged. The underwater positioning device adopts UWB technology to position, and the underwater desilting robot utilizes the water surface floating ball device 13 to install the underwater positioning tag in a mode of arranging a UWB base station on the boundary of the water area to be desilted, so that the detection of the position of the water surface floating ball device 13 relative to the water area to be desilted is realized. The distribution mode can ensure that the underwater positioning tags installed on the water surface floating ball device 13 are within the measuring ranges of the three base stations at any time, and then the relative position of the underwater dredging robot in the water area to be dredged can be solved by utilizing a triangulation positioning calculation algorithm. The underwater wireless communication device comprises the underwater wireless data transmission module and the underwater wireless image transmission module, the wireless data transmission module is provided with two parts, one part is carried on the underwater desilting robot, a signal is packaged by an antenna and is arranged in the water surface floating ball device 13, and the other part is arranged at the shore base end and is used for receiving data information to realize data communication. The wireless image transmission module is provided with two parts, one part carries the body of the underwater dredging robot, an antenna is led out and placed on the water surface floating ball device, the other part is placed at the ground end, and video transmission is carried out through an RTSP protocol. The water surface floating ball device 13 exposed out of the water surface is mainly used for leading out signals of various underwater communication devices and realizing wireless data communication with the shore. The structure of the water surface floating ball device 13 is a waterproof structure, the underwater dredging robot is connected with the telescopic rod 15, the angle sensor is arranged inside the water surface floating ball device 13, and the relative position of the water surface floating ball device 13 and the underwater dredging robot is calculated through angle inverse calculation.
As shown in fig. 3, F1 is the repulsive force of the obstacle to the underwater dredging robot, F2 is the repulsive force of the obstacle to the underwater dredging robot, Fo is the sum of the repulsive forces of the underwater dredging robot to the obstacles, namely the output of the obstacle avoidance behavior of the underwater dredging robot, Fa is the attraction of the target point to the underwater dredging robot, namely the output of the underwater dredging robot tending to the target point, Fr is the sum of the repulsive force and the attractive force borne by the underwater dredging robot, the underwater dredging robot is characterized by comprising an underwater dredging robot, wherein the underwater dredging robot is controlled by the underwater dredging robot, Fh is a control action exerted by the underwater dredging robot by a human through a control rod on a remote controller (a receiver of the remote controller is linked with a computer through a USB port, and a control instruction is transmitted to the underwater robot through a wireless data transmission module), and Fall is final motion control information generated after control information of the underwater dredging robot and control information of the human are fused. In order to solve the problems of path planning and autonomous obstacle avoidance of the underwater dredging robot, a shared control algorithm based on an artificial potential field is adopted to carry out the path planning and the obstacle avoidance. The underwater dredging robot carries on the underwater obstacle avoidance device 23 to carry out real-time distance detection on surrounding obstacles and feed back distance information to the main controller of the underwater dredging robot, the main controller judges whether the current distance is smaller than a safe distance, and the main controller carries out path planning by using a shared control algorithm based on an artificial potential field until the obstacles are avoided. If the planned obstacle can not achieve the obstacle avoidance effect, the obstacle avoidance can be carried out in a remote control operation mode.
The raspberry pi coprocessor is connected with the main controller through a USB port; the MS5837 depth sensor is connected with the main controller through an IIC protocol; the dredging brush 19, the tamping machine, the sewage suction pump 20 and the dredging pipeline 17 are connected with output pins of the main controller, and the main controller outputs corresponding PWM wave ranges to control the actions of the dredging brush 19, the tamping machine, the sewage suction pump 20 and the dredging pipeline 17; the underwater propellers 16 are connected with the output pins of the main controller, and the main controller outputs PWM (pulse-width modulation) waves to control the running states of the two groups of underwater propellers 16; the input ends of the wireless data transmission module 12 and the wireless image transmission module 14 which are installed on the underwater dredging robot are connected with the output port of the main controller through a UART serial port protocol; the angle sensor is connected with the output port of the main controller by adopting an SPI protocol; the underwater obstacle avoidance device 23 is connected with the output port of the main controller through a UART serial port protocol.
The utility model can efficiently carry out underwater dredging operation for some indoor reservoirs and large dredging equipment which can not enter into the working, is not limited by places, replaces manpower by machines, reduces the cost and improves the working efficiency; the utility model can realize the functions of autonomous walking, autonomous obstacle avoidance and the like, can autonomously realize underwater dredging work under the condition of no human intervention, and greatly improves the intelligent degree; the utility model solves the problems that the traditional underwater dredging robot is restrained by the cable and the working range of the traditional underwater dredging robot is limited by adopting the wireless communication device; the utility model discloses a remote control formula combines together with autonomic motion, has realized remote control, the autonomous control to the desilting robot under water for the work efficiency of desilting robot under water promotes by a wide margin.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (7)
1. The utility model provides an independently with remote control formula desilting robot under water which characterized in that: including support, desilting device, control storehouse under water, wireless communication device, telescopic link, surface of water floater device, battery compartment, two sets of underwater propulsor, keep away barrier device, camera and the light under water, wherein:
the support is arranged above the underwater dredging device and is provided with an upper layer and a lower layer, the control bin, the telescopic rod and the underwater wireless communication device are arranged on the upper layer of the support, the underwater wireless communication device consists of a wireless data transmission module and a wireless image transmission module, one end of each of the wireless data transmission module and the wireless image transmission module is connected with the control bin, and the other end of each of the wireless data transmission module and the wireless image transmission module is connected with the water surface floating ball device arranged at the top of the telescopic rod through an antenna;
the underwater dredging robot is characterized in that the battery bin, the underwater propellers, the underwater obstacle avoidance device, the underwater camera and the underwater illuminating lamp are arranged above the lower layer of the support, the battery bin supplies kinetic energy to the control bin and the underwater propellers, and the output end of the underwater obstacle avoidance device, the shooting direction of the underwater camera and the irradiation direction of the underwater illuminating lamp face the advancing direction of the underwater dredging robot.
2. An autonomous and remote-controlled underwater dredging robot as claimed in claim 1, characterized in that: the underwater dredging device comprises a dredging box, a tamping dragon, a dredging brush, a dredging pipeline and a sewage suction pump, wherein the dredging box is installed at the bottom of the support, the tamping dragon is installed at the bottom of the dredging box, the sewage suction pump is arranged inside the dredging box, the dredging brush and the dredging pipeline are arranged on the outer wall of the dredging box facing the advancing direction of the underwater dredging robot.
3. An autonomous and remote-controlled underwater dredging robot as claimed in claim 1, characterized in that: and the mounting direction of the underwater propeller deviates from the advancing direction of the underwater dredging robot to the external environment.
4. An autonomous and remote-controlled underwater dredging robot as claimed in claim 2, characterized in that: still include main control unit, attitude sensor, depth sensor and raspberry group coprocessor, main control unit attitude sensor depth sensor and raspberry group coprocessor all install in the control bin, attitude sensor depth sensor raspberry group coprocessor all with main control unit connects.
5. An autonomous and remote-controlled underwater dredging robot as claimed in claim 4, characterized in that: the desilting brush, smash the dragon, the soil pick-up pump the desilting pipeline, two sets of underwater propulsor keep away the barrier device under water wireless communication device under water the camera and under water the light all with main control unit connects.
6. An autonomous and remote-controlled underwater dredging robot as claimed in claim 4, characterized in that: the underwater positioning device is characterized by further comprising an underwater positioning tag, wherein the underwater positioning tag is installed in the control cabin, one end of the underwater positioning tag is connected with the main controller, and the other end of the underwater positioning tag is connected with the water surface floating ball device through an antenna.
7. An autonomous and remote-controlled underwater dredging robot as claimed in claim 4, characterized in that: the water surface floating ball device is characterized by further comprising an angle sensor, wherein the angle sensor is installed in the water surface floating ball device, one end of the angle sensor is connected with the main controller, and the other end of the angle sensor is connected with the water surface floating ball device through an antenna.
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| CN202021560343.0U CN213062166U (en) | 2020-07-31 | 2020-07-31 | Autonomous and remote control type underwater dredging robot |
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| CN202021560343.0U CN213062166U (en) | 2020-07-31 | 2020-07-31 | Autonomous and remote control type underwater dredging robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114482256A (en) * | 2021-12-31 | 2022-05-13 | 南京安透可智能***有限公司 | Intelligent dredging equipment for sewage pipe network and suction dredging method |
| CN115397073A (en) * | 2022-10-26 | 2022-11-25 | 青州鑫聚隆装备制造有限公司 | A lighting system for amphibious desilting robot of self-propelled |
-
2020
- 2020-07-31 CN CN202021560343.0U patent/CN213062166U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114482256A (en) * | 2021-12-31 | 2022-05-13 | 南京安透可智能***有限公司 | Intelligent dredging equipment for sewage pipe network and suction dredging method |
| CN115397073A (en) * | 2022-10-26 | 2022-11-25 | 青州鑫聚隆装备制造有限公司 | A lighting system for amphibious desilting robot of self-propelled |
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