TWM577407U - Autonomous underwater vehicle, auv - Google Patents
Autonomous underwater vehicle, auv Download PDFInfo
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- TWM577407U TWM577407U TW107217162U TW107217162U TWM577407U TW M577407 U TWM577407 U TW M577407U TW 107217162 U TW107217162 U TW 107217162U TW 107217162 U TW107217162 U TW 107217162U TW M577407 U TWM577407 U TW M577407U
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Abstract
一種水下移動探測機具，包括有鋁合金艙體外殼、廣角攝影機、雙眼視覺攝影機(Dual-Lens Camera)、LED聚光燈、承載板、電池、深度探測器、姿態感知儀(INS)、姿態微調滑塊、控制器、推進馬達、伺服馬達、四組舵機及螺旋槳。 An underwater mobile detecting machine comprising an aluminum alloy cabin shell, a wide-angle camera, a dual-lens camera, an LED spotlight, a carrier plate, a battery, a depth detector, an attitude sensing device (INS), and a fine-tuning of the posture Slider, controller, propulsion motor, servo motor, four sets of steering gear and propeller.
整體結構可分為艏艙、主控制艙、驅動艙三個空間。艏艙容納廣角攝影機、雙眼視覺裝置(Dual-Lens Camera)、LED聚光燈、深度探測器；主控制艙容納電池、姿態感知儀(INS)、姿態微調滑塊、承載板及一組控制器：驅動艙容納推進馬達、伺服馬達、四組舵機及螺旋槳，各艙間接合處設有O-ring防水環槽以達防水功能，並於前向固定點及側向固定點進行固定。 The overall structure can be divided into three spaces: the cockpit, the main control cabin and the drive cabin. The cabin accommodates a wide-angle camera, Dual-Lens Camera, LED spotlight, depth detector; the main control cabin houses the battery, attitude sensor (INS), attitude fine-tuning slider, carrier board and a set of controllers: The drive cabin accommodates the propulsion motor, servo motor, four sets of steering gears and propellers. O-ring waterproof ring grooves are provided at the joints of each space to achieve waterproof function, and are fixed at the forward fixed point and the lateral fixed point.
藉由艏艙之攝影機擷取影像至控制器，提供控制器分析影像資料後，並由控制器分析後進行導航控制，以達成載具避障、跟隨目標、統計目標物功能。藉由主控制艙之姿態感知儀(INS)收集載具之速度、加速度、平移量及轉動量資料傳送至控制器進行演算紀錄載具之路徑。藉由艏艙之深度感測器收集深度資料傳送至控制器演算並紀錄載具之深度。藉由主控制艙之姿態微調滑塊維持無人載具的水中平衡。藉由驅動艙之推進馬達提供動力予螺旋槳以利無人載具之前進，及伺服馬達變更四組舵機角度以利改變無人載具之方向及深度。藉由主控制艙之電池提供電力予前揭設備運作。藉由前揭物品之組合達成一水下自主式無人載具。 The camera is captured by the camera of the capsule to provide the controller to analyze the image data, and then analyzed by the controller for navigation control to achieve the obstacle avoidance, follow target, and statistical target function. The speed, acceleration, translation and rotation data of the vehicle are collected by the attitude control instrument (INS) of the main control cabin and transmitted to the controller for calculation of the path of the record carrier. The depth data collected by the depth sensor of the capsule is transmitted to the controller for calculation and the depth of the vehicle is recorded. The water balance of the unmanned vehicle is maintained by the fine adjustment slider of the main control cabin. The propulsion motor of the drive cabin is powered to the propeller to facilitate the advancement of the unmanned vehicle, and the servo motor changes the angle of the four sets of steering gears to change the direction and depth of the unmanned vehicle. Power is supplied to the front-end equipment by the battery in the main control cabin. An underwater autonomous unmanned vehicle is achieved by a combination of pre-exposed articles.
Description
本創作係有關於一種水下載具，尤指一種可以擷取立體影像、取得載具路徑、深度，並經由控制器運算後自主決定行徑方向及深度，以達精確地於水下探測攝影收集資料。 This creation department is about a water downloading device, especially one that can capture stereoscopic images, obtain the path and depth of the vehicle, and determine the direction and depth of the path by the controller to achieve accurate underwater photography. .
近年來隨著水下探勘需求的增加，為避免人為探測所可能帶來之風險，需要採用無人水下載具進行水下探測。 In recent years, with the increasing demand for underwater exploration, in order to avoid the risk of human detection, it is necessary to use an unmanned water downloader for underwater detection.
目前常用之水下無人載具外殼採用碳纖材質且艙體結間欠缺防水機制，最大其操作深度有限，且水底感測方式僅能靠著聲納、深度計、高度計、加速規、加速規及檢漏計等儀器，然使用慣性感測儀配合聲學測距方式進行判讀，仍因水下地形多變無法掌握，故所分析之資料仍將因此產生感測誤差及錯誤。因此，為求探測範圍更廣泛與更精確定位水下座標及其獲取探勘之結果，即成為相關廠商及設計人員共同努力之目標。 At present, the underwater unmanned vehicle shell is made of carbon fiber material and lacks waterproof mechanism between the cabins. The maximum operating depth is limited, and the underwater sensing method can only rely on sonar, depth gauge, altimeter, accelerometer, acceleration gauge and Instruments such as leak detectors, but using inertial sensors and acoustic ranging methods for interpretation, still can not be mastered due to the variety of underwater terrain, so the analysis of the data will still produce sensing errors and errors. Therefore, in order to obtain a wider range of detection and more accurate positioning of underwater coordinates and the results of their exploration, it has become the goal of the joint efforts of relevant manufacturers and designers.
目前水下載具所採材質為碳纖維，探測方式仍僅使用慣性感測儀配合聲學測距方式，造成探測深度有限，且定位及探測結果多有誤差，造成水下探測之準確率大打折扣。 At present, the water downloading material is made of carbon fiber, and the detection method still uses only the inertial sensor with the acoustic ranging method, which results in limited detection depth, and there are many errors in positioning and detection results, which causes the accuracy of underwater detection to be greatly reduced.
本新型創作提供一種水下高強度及高水密性水下探測載 具，包括艏艙、主控制艙、驅動艙三個空間。艏艙容納廣角攝影機、雙眼視覺裝置(Dual-Lens Camera)、LED聚光燈、深度感測器；主控制艙容納電池、姿態感知儀(INS)、姿態微調滑塊、承載板及一組控制器：驅動艙容納推進馬達、伺服馬達、四組舵機及螺旋槳，各艙間接合處設有O-ring防水環槽，藉此組成一能深入水下之載具，並能靠視覺裝置擷取影像更精確取得水下地形地物之資料，並以深度探測器及姿態感知儀(INS)進行更精確的定位。 The novel creation provides an underwater high-strength and high-water-tight underwater detection load There are three spaces including the cabin, the main control cabin and the drive cabin. The cabin accommodates a wide-angle camera, Dual-Lens Camera, LED spotlight, depth sensor; main control cabin holds battery, attitude sensor (INS), attitude fine-tuning slider, carrier board and a set of controllers The drive compartment accommodates the propulsion motor, servo motor, four sets of steering gears and propellers. O-ring waterproof ring grooves are provided at the joints of each space to form a carrier that can penetrate deep into the water and can be captured by visual means. The image is more accurate in obtaining underwater terrain features and more precise positioning with depth detectors and attitude sensors (INS).
藉由艏艙容納廣角攝影機、雙眼視覺裝置(Dual-Lens Camera)、LED聚光燈可清楚取得影像資料後傳輸至控制器進行記載並分析探測結果。藉由艏艙之深度探測器擷取深度資料後傳輸至控制器。 The wide-angle camera, dual-lens camera, and LED spotlight can be used to capture the image data and transmit it to the controller for recording and analysis of the detection results. The depth data is taken from the depth detector of the capsule and transmitted to the controller.
藉由主控制艙容納電池提供電力予各設備運轉，搭配姿態感知儀(INS)取得載具之速度、加速度、平移量及轉動量資料傳送至控制器進行演算紀錄載具之路徑後進行水下探測之定位。藉由主控制艙之姿態微調滑塊維持載具在水中之中性平衡、藉由控制器紀錄分析前揭影像及路徑資料後進行定位。藉由承載板搭載電池、深度探測器、姿態感知儀(INS)、姿態微調滑塊及控制器。 The main control cabin accommodates the battery to supply power to each device to operate, and the attitude sensing device (INS) is used to obtain the speed, acceleration, translation amount and rotation amount of the vehicle, and the data is transmitted to the controller to calculate the path of the record carrier and then perform underwater. The location of the probe. The slider of the main control cabin is used to maintain the neutral balance of the vehicle in the water, and the image is recorded by the controller to analyze the image and path data. A battery, a depth detector, an attitude sensing device (INS), a posture fine-tuning slider, and a controller are mounted on the carrier.
藉由驅動艙之推進馬達提供動力予螺旋槳以利無人載具之前進，及伺服馬達變更四組舵機角度以利改變無人載具之方向及深度。 The propulsion motor of the drive cabin is powered to the propeller to facilitate the advancement of the unmanned vehicle, and the servo motor changes the angle of the four sets of steering gears to change the direction and depth of the unmanned vehicle.
本載具外殼採用鋁合金，艙體間接合處存有O-ring防水環槽，具有相當之水密性，使潛水深度能達到300公尺。 The carrier shell is made of aluminum alloy, and there is an O-ring waterproof ring groove at the joint between the cabins. It has a water tightness, which makes the diving depth reach 300 meters.
是本創作之無人載具搭配廣角攝影機、雙眼視覺裝置(Dual-Lens Camera)、LED聚光燈、深度探測器、姿態感知儀(INS)、姿態微 調滑塊、控制器、推進馬達、伺服馬達、四組舵機、螺旋槳、電池及O-ring防水環槽，即能用於勘測水下石油、天然氣管線、電力管線或地形形貌，極具產業上之利用價值，前揭組合均未見於市面上之產品或研究具有新穎性，且其資料收集及定位方式並非屬技術領域中之人士能輕易思及而達成者，具有相當之進步性。 It is the unmanned vehicle of this creation with wide-angle camera, Dual-Lens Camera, LED spotlight, depth detector, attitude sensor (INS), posture micro Adjustable sliders, controllers, propulsion motors, servo motors, four sets of steering gears, propellers, batteries and O-ring waterproof ring grooves can be used to survey underwater oil, gas pipelines, power lines or topography. The value of the industry's use, the previous combination of products are not seen in the market for products or research is novel, and its data collection and positioning methods are not in the technical field can easily be thought of and reached, with considerable progress.
10‧‧‧無人載具鋁合金外型 10‧‧‧Unmanned Vehicle Aluminum Shape
11‧‧‧艏艙 11‧‧‧艏
12‧‧‧攝影機 12‧‧‧ camera
12a‧‧‧廣角攝影機 12a‧‧‧ wide-angle camera
12b‧‧‧雙眼視覺攝影機 12b‧‧‧ binocular vision camera
13‧‧‧LED聚光燈 13‧‧‧LED spotlight
14‧‧‧深度探測器 14‧‧‧ depth detector
15‧‧‧主控制艙 15‧‧‧Master Control Cabin
16‧‧‧電池 16‧‧‧Battery
17‧‧‧控制器 17‧‧‧ Controller
18‧‧‧姿態感知儀 18‧‧‧ attitude sensor
19‧‧‧推進馬達 19‧‧‧Advance motor
20‧‧‧驅動艙 20‧‧‧Drive compartment
21‧‧‧上舵 21‧‧‧Upper
22‧‧‧螺旋槳 22‧‧‧propeller
23‧‧‧側舵 23‧‧‧ rudder
24‧‧‧下舵 24‧‧‧ under the rudder
25‧‧‧承載板 25‧‧‧Loading board
26‧‧‧姿態微調滑塊 26‧‧‧ posture fine-tuning slider
27‧‧‧伺服馬達 27‧‧‧Servo motor
28‧‧‧防水O-ring 28‧‧‧Waterproof O-ring
29‧‧‧側向固定點 29‧‧‧ lateral fixed point
30‧‧‧前向固定點 30‧‧‧ forward fixed point
第1圖係本創作之外觀圖。 Figure 1 is an external view of the creation.
第2圖係本創作之分解圖。 Figure 2 is an exploded view of the creation.
第3圖係本創作控制艙剖視圖。 Figure 3 is a cross-sectional view of the present control cabin.
第4圖係本創作艏艙之前視圖。 Figure 4 is a front view of the creation of the cabin.
第5圖係本創作驅動艙之配置圖。 Figure 5 is a configuration diagram of the creation drive cabin.
第6圖係本創作O-ring型防水環之示意圖。 Figure 6 is a schematic view of the O-ring type waterproof ring of the present invention.
第7圖係本創作艏艙攝影機之配置圖。 Figure 7 is a layout diagram of the present cockpit camera.
請參閱第2圖、第3圖、第4圖、第5圖、第6圖及第7圖，本創作係提供一種水下無人載具，該載具包括有鋁合金外殼10，可分為艏艙11、主控制艙15、驅動艙20。 Please refer to FIG. 2, FIG. 3, FIG. 4, FIG. 5, FIG. 6 and FIG. 7. The present invention provides an underwater unmanned vehicle, which comprises an aluminum alloy casing 10, which can be divided into The cabin 11, the main control cabin 15, and the drive cabin 20.
艏艙11內有攝影機12及LED聚光燈13及深度探測器14，攝影機又可分為廣角攝影機12a及雙眼攝影機12b，攝影機12擷取影像後傳輸至控制器17，深度探測器14量測深度資料後傳輸至控制器17。 The camera 11 has a camera 12, an LED spotlight 13 and a depth detector 14. The camera can be further divided into a wide-angle camera 12a and a binocular camera 12b. The camera 12 captures the image and transmits it to the controller 17, and the depth detector 14 measures the depth. The data is then transferred to the controller 17.
主控制艙15內包含電池16、姿態感知儀(INS)18、姿態微調 滑塊26、控制器17及承載板25；姿態感知儀18傳輸載具運動資料至控制器17，姿態微調滑塊26調整無人載具在水中之運動平衡。 The main control cabin 15 contains a battery 16, an attitude sensing device (INS) 18, and a fine-tuned attitude The slider 26, the controller 17 and the carrier plate 25; the attitude sensor 18 transmits the vehicle motion data to the controller 17, and the attitude fine adjustment slider 26 adjusts the motion balance of the unmanned vehicle in the water.
驅動艙20包含推進馬達19、伺服馬達27、上舵21、下舵24、側舵23及螺旋槳22；推進馬達19供給動力予螺旋槳24，伺服馬達27控制四組舵機(21、23、24)角度。 The drive cabin 20 includes a propulsion motor 19, a servo motor 27, an upper rudder 21, a lower rudder 24, a side rudder 23, and a propeller 22; the propulsion motor 19 supplies power to the propeller 24, and the servo motor 27 controls four sets of steering gears (21, 23, 24). )angle.
各艙將連結處以O-ring防水槽28連結以達防水效果，並於側向固定點29及前向固定點30進行固定。 Each of the compartments is connected by an O-ring waterproof groove 28 to achieve a waterproof effect, and is fixed at the lateral fixing point 29 and the forward fixing point 30.
Claims (16)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107217162U TWM577407U (en) | 2018-12-18 | 2018-12-18 | Autonomous underwater vehicle, auv |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107217162U TWM577407U (en) | 2018-12-18 | 2018-12-18 | Autonomous underwater vehicle, auv |
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| Publication Number | Publication Date |
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| TWM577407U true TWM577407U (en) | 2019-05-01 |
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| TW107217162U TWM577407U (en) | 2018-12-18 | 2018-12-18 | Autonomous underwater vehicle, auv |
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