阅读说明：本技术 一种水下机器人 (Underwater robot ) 是由 陈嘉真 王成才 李静芳 雷欣 保璞 张文泽 王春苗 于 2021-07-22 设计创作，主要内容包括：本申请公开了一种水下机器人,包括：密封舱,所述密封舱侧部设置有垂直推进器,密封舱的一端设置有第一横向推进器,密封舱的另一端设置有第二横向推进器；艏部导流外壳,艏部导流外壳设置于密封舱设置第一横向推进器的外侧；艉部导流外壳,艉部导流外壳设置于密封舱设置第二横向推进器的外侧,艉部导流外壳设置有前进推进器。该方案将AUV与ROV相结合,采用全自由度控制方案,可在风浪大、障碍多的复杂水域内实现有效的搜救。(The application discloses underwater robot includes: the side part of the sealed cabin is provided with a vertical propeller, one end of the sealed cabin is provided with a first transverse propeller, and the other end of the sealed cabin is provided with a second transverse propeller; the bow diversion shell is arranged on the outer side of the sealed cabin, which is provided with the first transverse propeller; and the stern diversion shell is arranged on the outer side of the sealed cabin provided with the second transverse propeller, and the stern diversion shell is provided with an advancing propeller. According to the scheme, the AUV and the ROV are combined, and a full-freedom-degree control scheme is adopted, so that effective search and rescue can be realized in a complex water area with large storms and many obstacles.)

1. An underwater robot, comprising:

the side part of the sealed cabin is provided with a vertical propeller, one end of the sealed cabin is provided with a first transverse propeller, and the other end of the sealed cabin is provided with a second transverse propeller;

the bow diversion shell is arranged on the outer side of the sealed cabin, which is provided with the first transverse propeller;

and the stern diversion shell is arranged on the outer side of the second transverse propeller arranged in the sealed cabin, and is provided with an advancing propeller.

2. An underwater robot as in claim 1, wherein the vertical thruster comprises a first vertical thruster and a second vertical thruster;

the first vertical thruster is arranged on the port side of the sealed cabin, and the second vertical thruster is arranged on the starboard side of the sealed cabin.

3. An underwater robot as in claim 2, wherein the capsule port is provided with two of the first vertical thrusters and the capsule starboard is provided with two of the second vertical thrusters.

4. Underwater robot as claimed in claim 3, wherein the two first vertical thrusters arranged port-side are symmetrically arranged and the two second vertical thrusters arranged starboard-side are symmetrically arranged.

5. Underwater robot as claimed in any of claims 1-4, wherein an ultra short baseline sensor is arranged outside the bow guide housing.

6. An underwater robot as claimed in any of claims 1 to 4, wherein a group of communication positioning antennas is provided outside the capsule.

7. The underwater robot as claimed in any one of claims 1 to 4, wherein a sensor expansion bracket is provided at the bottom of the capsule, and at least one fixing hole is formed in the sensor expansion bracket.

8. An underwater robot as claimed in claim 7, wherein the at least one fixing hole is used for fixing at least one of a side scan sonar, an altimeter and a thermohaline.

9. Underwater robot as claimed in any of claims 1-4, wherein a handle is arranged outside the capsule.

10. An underwater robot as claimed in any of claims 1-4, further comprising: and the first diversion trench and the second diversion trench are respectively matched with the first transverse thruster and the second transverse thruster.

Technical Field

The present application relates generally to the field of robots, and more particularly to an underwater robot.

Background

The underwater rescue operation comprises underwater search and underwater rescue operation, the first is search, and the traditional frogman underwater search and rescue mode has the problems of high diving cost, low efficiency and large potential safety hazard. With the development of science and technology and technical iteration, the traditional search and rescue task can be completely completed by the underwater robot. The underwater robot has the greatest characteristics of strong deep water operation capability and simple and convenient operation, and can be remotely controlled to perform high-difficulty operation underwater in a ground control room through a handle or a key of a control console. The underwater robot can complete long-time, high-strength and heavy-load underwater rescue operation in a depth and an unsafe water area which cannot be reached by divers.

At present, the underwater robot is divided into two forms, namely a cableless underwater robot and a cabled underwater robot, the cabled underwater robot is also called as a remote control submersible (ROV), the operation and the control are flexible, but a mother ship is required to follow the robot, the working range is limited by the length of a cable, all-weather autonomous working cannot be realized, the fluid resistance is large, and the cruising ability is weak; the other type is a cableless underwater robot, also called an Autonomous Underwater Vehicle (AUV), which has a long endurance time but is mostly under-driven control, is not flexible enough in movement, cannot realize fine positioning search, cannot realize search and rescue actions such as underwater hovering and rotation, and the like.

Disclosure of Invention

In view of the above-mentioned drawbacks or deficiencies in the prior art, it would be desirable to provide an underwater robot.

In a first aspect, the present application provides an underwater robot comprising:

the side part of the sealed cabin is provided with a vertical propeller, one end of the sealed cabin is provided with a first transverse propeller, and the other end of the sealed cabin is provided with a second transverse propeller;

the bow diversion shell is arranged on the outer side of the sealed cabin, which is provided with the first transverse propeller;

and the stern diversion shell is arranged on the outer side of the sealed cabin provided with the second transverse propeller, and the stern diversion shell is provided with an advancing propeller.

In one embodiment, the vertical thrusters comprise a first vertical thruster and a second vertical thruster;

a first vertical propeller is arranged on the port side of the sealed cabin, and a second vertical propeller is arranged on the starboard side of the sealed cabin.

In one of the embodiments, the capsule is provided with two first vertical thrusters port and two second vertical thrusters starboard.

In one embodiment, the two first vertical thrusters arranged port-side are symmetrically arranged, and the two second vertical thrusters arranged starboard-side are symmetrically arranged.

In one embodiment, an ultra-short baseline sensor is arranged outside the stem guide shell.

In one embodiment, the communication positioning antenna group is arranged outside the sealed cabin.

In one embodiment, the bottom of the sealed cabin is provided with a sensor expansion frame, and the sensor expansion frame is provided with at least one fixing hole.

In one embodiment, at least one fixing hole is used for fixing at least one of a side scan sonar, an altimeter and a thermohaline.

In one embodiment, a handle is arranged outside the sealed cabin.

In one embodiment, the underwater robot further comprises: and the first guide groove and the second guide groove are respectively matched with the first transverse thruster and the second transverse thruster.

The embodiment of the application provides an underwater robot through setting up perpendicular propeller, horizontal propeller and the propeller that advances, can realize the full degree of freedom flexible control of robot, makes it can realize the stability of gesture under abominable search and rescue environment, and then realizes searching and rescuing fast.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

fig. 1 is a front view of an underwater robot provided in an embodiment of the present application;

fig. 2 is a first top view of an underwater robot provided in an embodiment of the present application;

fig. 3 is a second top view of the underwater robot provided in the embodiment of the present application;

fig. 4 is a rear view of an underwater robot provided by an embodiment of the present application;

fig. 5 is a bottom view of an underwater robot provided in an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. It should be noted that, for the convenience of description, only the portions relevant to the application are shown in the drawings.

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described are capable of operation in sequences other than those illustrated or otherwise described herein.

Moreover, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In the related technology, the ROV is flexibly controlled but needs a mother ship to carry out following guarantee, the working range is limited by the length of a mooring rope, all-weather autonomous working cannot be realized, the fluid resistance is large, and the cruising ability is weak; the AUV has long endurance time but is mostly under-actuated control, the movement is not flexible enough, fine positioning search cannot be realized, and search and rescue actions such as underwater hovering and rotation cannot be realized. The existing underwater robot is single in control mode and limited in working condition, and effective work under various search and rescue working conditions cannot be guaranteed.

Based on the defects, the underwater robot can realize full-freedom controllability, can replace an ROV to execute tasks such as underwater fixed-point inspection, search and rescue, approaching detection and the like, can also replace an underdriven AUV to execute search and exploration tasks beyond visual range.

Referring to fig. 1-5, there are shown schematic structural views of an underwater robot suitable for use in the present application.

As shown in fig. 1-5, an underwater robot may include:

the device comprises a sealed cabin 1, wherein a vertical propeller 11 is arranged on the sealed cabin 1, a first transverse propeller 12 is arranged at one end of the sealed cabin 1, and a second transverse propeller 13 is arranged at the other end of the sealed cabin;

the bow diversion shell 2 is arranged on the outer side of the sealed cabin 1, which is provided with the first transverse propeller 12;

and the stern guide shell 3 is arranged on the outer side of the sealed cabin provided with the second transverse propeller 13, and the stern guide shell is provided with an advancing propeller 31.

Specifically, the sealed cabin 1 is an external body shell, and may be streamlined, and the sealed cabin may be made of plastic, organic glass, such as acrylic, and the like, which is not limited herein.

The sealed cabin 1 is positioned in the middle of the underwater robot and mainly plays a role in protecting sensitive electronic components, and a circuit board, a battery pack, an inertial navigation module, a communication module and the like are arranged in the sealed cabin.

The bow part flow guide shell 2 and the stern part flow guide shell 3 are respectively fixed on the outer sides of the front part and the rear part of the sealed cabin 1 through bolts.

The first transverse propeller 12 and the second transverse propeller 13 are installed on the paddle seats extending from the front part and the rear part of the sealed cabin 1 in pairs and are fixed through bolts.

The forward propeller 31 is located at the rearmost part of the robot and is fixed with the stern guide shell 3 through bolts.

Optionally, the vertical thruster 11 comprises a first vertical thruster 111 and a second vertical thruster 112;

the sealed cabin 1 is provided with a first vertical thruster 111 on the port side and a second vertical thruster 112 on the starboard side.

It will be appreciated that, in general, the left side is port and the right side is starboard, as viewed from the tail of the robot to the front of the robot. The left side is starboard and the right side is port when the robot is viewed from the front to the tail of the robot.

Optionally, the sealed cabin 1 is provided with two first vertical thrusters 111 on the port side, and the sealed cabin 1 is provided with two second vertical thrusters 112 on the starboard side.

Optionally, the two first vertical thrusters 111 arranged on the port side are symmetrically arranged, and the two second vertical thrusters 112 arranged on the starboard side are symmetrically arranged. The two first vertical thrusters 111 disposed on the port side are also disposed symmetrically to the two second vertical thrusters 112 disposed on the starboard side, respectively.

The 4 vertical propellers are arranged at the bow part and the stern part of the robot in pairs and are fixed on the sealed cabin 1 through a fixed frame 113 and bolts.

It can be understood that two groups of vertical thrusters are respectively designed on the port and the starboard of the underwater robot, and can control the underwater robot to float, submerge, roll and pitch in freedom degree. Two transverse propellers are arranged at the bow part and the stern part of the underwater robot and can control the course angle of the underwater robot, and 1 advancing propeller is arranged at the stern part and can control the underwater robot to advance and retreat.

The embodiment of the application provides an underwater robot through setting up perpendicular propeller, horizontal propeller and the propeller that advances, can realize the full degree of freedom flexible control of robot, makes it can realize the stability of gesture under abominable search and rescue environment, and then realizes searching and rescuing fast.

In one embodiment, an ultra-short baseline sensor (USBL)21 is disposed outside the stem diversion casing 2, and the AUV can utilize the relative position and relative azimuth information between the USBL measured beacon and a beacon (a submarine base station is provided with a beacon with a known matching position) to realize the docking with the base station by adjusting the posture of the AUV. The underwater robot can operate in a mode of cableless autonomous beyond-visual-range control.

In one embodiment, the outside of the sealed cabin 1 is provided with a communication positioning antenna group 14. The communication positioning antenna group 14 can be arranged at the upper end of the middle part of the sealed cabin 1 and can be tightly held and fixed with the sealed cabin 1 through a steel hoop. Through the set communication positioning antenna group 14, the underwater robot can work in a cabled remote control mode.

In one embodiment, the bottom of the capsule 1 is provided with a sensor expansion frame 15, and at least one fixing hole is formed on the sensor expansion frame 15. Optionally, at least one fixing hole is used for fixing at least one of a side scan sonar, an altimeter and a thermohaline.

Specifically, the sensor extension frame 15 may include a sensor transverse fixing frame 151, a sensor lateral fixing frame 152, and a connection fixing block 153. The sensor expansion bracket 15 may be fixed to the sensor fixing bracket by bolts.

In one embodiment, handles 16 are provided on the outside of the capsule 1. It can be understood that one handle 16 may be arranged on one side of the sealed cabin 1 close to the stem guide casing and the stern guide casing, and arranged above the outer side of the sealed cabin 1. The handle 16 is arranged on the sealed cabin 1, so that the underwater robot can be conveniently taken out.

In one embodiment, the underwater robot further comprises: a first flow guide groove 17 and a second flow guide groove 18 which are respectively matched with the first transverse thruster and the second transverse thruster.

The shore-based control center sends a control signal through the wireless signal transmission equipment to be received by the underwater vehicle, and the propeller is controlled to rotate to carry out autonomous movement to execute a search and rescue task.

The shore-based control center is connected with the robot through a communication cable, and the robot is controlled to perform remote control type movement to execute a refined search and rescue task.

The search and rescue robot can carry other task sensors such as a water quality sensor and a terrain scanning sensor to execute tasks except search and rescue such as seabed detection and ocean scientific investigation.

The underwater robot provided by the embodiment of the application can adopt the ROV mode controlled by the cable, and realizes fine search and fixed-point search and rescue near a mother ship. When the AUV mode is adopted, the robot can realize over-the-horizon searching operation, after the stage searching task is completed, the robot floats to the water surface, and searching data are transmitted back to the shore-based control end in an electromagnetic communication mode such as heaven-earth communication. The two motion modes are reasonably switched according to different working conditions. The AUV and the ROV are combined, and a full-freedom control scheme is adopted, so that effective search and rescue can be realized in a complex water area with large storms and many obstacles.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.