Underwater detection and salvage robot, working method, and control system

A technology of an underwater robot and a working method, which is applied to underwater operation equipment, ship propulsion, ship parts, etc., can solve problems such as the inability to quickly and accurately find items that cannot be salvaged or located by seabed samples, and achieves the goal of improving the efficiency of underwater travel. Effect

Inactive Publication Date: 2018-02-16
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

First of all, it should be considered that due to the limitation of its own conditions, a single underwater robot cannot quickly and accurately find seabed samples or items that need to be salvaged or positioned.

Method used

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  • Underwater detection and salvage robot, working method, and control system
  • Underwater detection and salvage robot, working method, and control system
  • Underwater detection and salvage robot, working method, and control system

Examples

Experimental program
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Effect test

Embodiment 1

[0028] Such as Figure 1 to Figure 5 As shown, the present embodiment 1 provides an underwater robot, comprising: a main body 1, a power device is provided on the outer wall of the main body 1, and a manipulator 5 is provided at the front end of the main body; a processor module is suitable for controlling the power device To control the underwater robot to travel underwater, and also to control the manipulator 5 to realize the grasping action, so as to realize the underwater salvage work.

[0029] The main body 1 is shuttle-shaped; the power unit includes three propeller-type motor propellers, which are distributed on the outer wall at 120°; the processor module is suitable for controlling the three propeller-type motor propellers to work together to control water The underwater robot travels underwater.

[0030] Specifically, the underwater traveling mode of the underwater robot includes but is not limited to ups and downs, turning, lateral movement, and pitching. The corre...

Embodiment approach

[0039] As an optional implementation of the underwater robot, the underwater robot also includes: a camera and a communication device connected to the processor module; the processor module recognizes the target through the camera device, and builds a communication network through the communication device To realize tracking and positioning; specifically, the mother ship locates the corresponding underwater robots by receiving the communication devices of each underwater robot.

[0040]Specifically, the communication method of the underwater robot adopts a three-stage step-by-step approach, that is, three communication technologies are used in the process of the two robots gradually approaching, which has the characteristics of high efficiency, high intelligence, and high stability. Specifically, the complex process of approaching is divided into three different stages according to the three communication methods. Using three suitable communication methods can make multiple und...

Embodiment 2

[0047] On the basis of embodiment 1, this embodiment 2 also provides a working method of the underwater robot.

[0048] The working method includes: controlling the underwater robot to advance underwater by controlling the power device; and controlling the manipulator to realize the grasping action.

[0049] Wherein, the structure and working mode of the underwater robot are as described in Embodiment 1.

[0050] As an optional working method for underwater robots.

[0051] When the underwater robot turns underwater, the first propeller motor propeller acts as a turning fulcrum, and the second and third propeller motor propellers move toward each other and close together, that is, with the first propeller motor propeller at the center of the main body 1 Axisymmetric setup.

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PUM

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Abstract

The invention relates to an underwater detecting and salvage robot and a working method and control system thereof. The underwater robot comprises a body and a processor module, wherein a power device is arranged on the outer wall of the body, and a mechanical arm is arranged at the head end of the body; the processor module is used for controlling the underwater robot to advance by controlling the power device and used for controlling the mechanical arm to grab. The underwater detecting and salvage robot and the working method and control system thereof have the advantages that underwater salvage operation can be achieved, the underwater advancing efficiency of the underwater robot can be increased effectively, a three-stage substep closing manner is used to overcome complex underwater conditions, wide working range is achieved, and the underwater robots can converge under different distances by the aid of three communication manners.

Description

technical field [0001] The invention relates to an underwater detection and salvage robot, a working method and a control system. Background technique [0002] The 21st century is the century of the ocean. The rich energy and resources contained in the ocean are an important supply for human beings to survive under the situation that the resources on the ground are exhausted. At the same time, the 21st century is also the century of intelligent equipment. The wide application of intelligent systems has greatly improved the efficiency of labor and has become a new highland for national strategic development. Therefore, it is an undoubted development trend to apply smart equipment to the ocean. At present, the main form of underwater intelligent equipment is underwater robots, whose main functions include exploration, collection, maintenance, infrastructure, military and search and rescue. Among them, the use of underwater robots for ocean exploration is of great significanc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52B63H5/07B63H5/125
CPCB63B2747/00B63C11/52B63H5/07B63H5/125B63H2005/005
Inventor 杨逸飞朱晓璐陆悦徐铭泽
Owner HOHAI UNIV CHANGZHOU
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