A three-body streamlined autonomous operating underwater robot platform

An underwater robot and streamlined technology, applied to underwater operation equipment, manipulators, rotary propellers, etc., can solve problems such as difficult and unstructured seabed environment navigation and operation, limited operating range, operator fatigue, etc. The effect of wide range, high operation precision and strong autonomy

Active Publication Date: 2018-07-31
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the underwater working robots involved in the patent documents "An underwater working robot CN103303449A" and "Multifunctional underwater working device CN202379073U" also have a certain working ability, they are mainly traditional wheeled robot systems, and can be used in special equipment such as nuclear power plants. Reliable operation in the underwater environment, but it is difficult to be generally used for navigation and operation in the unstructured seabed environment
The underwater robots involved in the patent documents "Underwater Operation Robot and Its Working Method CN104960652A" and "Unmanned Underwater Operation Aquaculture Robot CN104813975A" are mainly open-frame remote-controlled underwater operation robots. For remote control operation of underwater robots, sensor information, control commands and energy are transmitted between the underwater carrier and the surface mother ship through the umbilical cable. The operation of the underwater robot requires the support of a professional mother ship, the operation cost is high, and the operation range is relatively limited. The accuracy of the operation depends entirely on the proficiency of the operator, and the long-term operation will easily cause the fatigue of the operator

Method used

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  • A three-body streamlined autonomous operating underwater robot platform
  • A three-body streamlined autonomous operating underwater robot platform
  • A three-body streamlined autonomous operating underwater robot platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] Example 1: Combining Figure 1 to Figure 10 , the present invention includes a frame 1, a streamlined housing 3, a battery compartment 10, a control compartment 11, a propulsion system, a motion perception system, an underwater visual perception system and two manipulators 9, the streamlined housing 3 is covered on the frame 1, and the battery compartment 10 is installed At the bottom of the streamlined shell 3, the control cabin 11 is arranged in the frame 1, the underwater vision system and the motion sensing system are installed on the front end of the streamlined shell 3, the propulsion system is installed on the streamlined shell 3, The two manipulators 9 are installed on the frame 1, and a cabin 41 for placing buoyant materials is also arranged in the frame.

[0025] In this embodiment, in order to ensure the neutral buoyancy state of the underwater robot, the remaining space will be used to add buoyancy materials.

[0026] In this embodiment, two battery compart...

Embodiment 2

[0028] Embodiment 2: Based on the above-mentioned embodiment, the pushing system includes two main propulsion propellers 12, a side propulsion propeller 7 and four vertical propulsion propellers 8, and the two main propulsion propellers 12 are installed at the rear end of the streamlined shell 3, The side propelling propeller 7 is installed on the lower surface of the front end of the streamlined casing 3, and the lower surface of the front end of the streamlined casing 3 and the lower surface of the rear end are respectively provided with two vertical propulsion propellers 8; the upper surface of the streamlined casing 3 is provided with a lifting point 2 .

[0029] The propulsion system of the present embodiment includes two main propulsion propellers 12, a side propulsion propeller 7 and four vertical propulsion propellers 8, and the two main propulsion propellers 12 at the stern are mainly used during long-distance navigation, and the autonomous operation underwater robot d...

Embodiment 3

[0030] Embodiment three: based on the above-mentioned embodiment, the underwater visual perception system is composed of binocular vision system 4, monocular color underwater camera 6, underwater lighting 13, binocular vision system 4, monocular color underwater camera 6 is installed on the front end in the frame 1, and the underwater illuminating lamp 13 is installed on the lower surface of the streamlined housing 3.

[0031] The monocular color camera 6 is mainly responsible for the identification of underwater targets, the binocular vision system 4 is mainly used for ranging and positioning, and the underwater visual perception system is mainly responsible for the identification, ranging and positioning of underwater targets. The propulsion system includes two main thrusters, one side thruster and four vertical thrusters. During long-distance navigation, the two main thrusters at the stern are mainly used. During operation, the autonomous operation underwater robot platform ...

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Abstract

The invention provides a three-body streamline type autonomous underwater robot platform and relates to a underwater robot platform and belongs to the field of underwater robots. The three-body streamline type autonomous underwater robot platform comprises a frame, a streamline type shell, a battery bin, a control bin, a propelling system, a motion perception system, a underwater visual perception system and a two manipulators; the frame is covered with the streamline type shell, the battery bin is mounted at the bottom of the streamline type shell, the control bin is arranged in the frame, the underwater visual perception system and the motion perception system are mounted at the front end of the streamline type shell, the propelling system is mounted on the streamline type shell, and the manipulators are mounted on the frame. By the arrangement, autonomous, stable and highly precise operation can be realized through coordinated motion of a underwater robot and the manipulators in the unstructured environment.

Description

technical field [0001] The invention relates to an underwater robot platform, in particular to a three-body streamlined autonomously operating underwater robot platform, which belongs to the field of underwater robots. Background technique [0002] The seabed contains a large number of biological resources and mineral resources. However, the complex and dangerous seabed environment poses a huge challenge to human beings to develop and utilize the ocean. On this basis, underwater robots emerge as the times require. Compared with cabled underwater robots, cableless autonomous underwater robots have the advantages of wide range of activities, high control precision, no need for professional and expensive mother ship support, and can operate in complex unstructured environments. important direction. [0003] At present, divers still play the most important role in underwater engineering and operations, but with the continuous increase of operating depth, the efficiency and time...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/49B63C11/52B63H1/04B63H1/14B25J9/08
CPCB25J9/08B63C11/49B63C11/52B63H1/04B63H1/14
Inventor 黄海周浩许锦宇庞永杰张铁栋苏玉民
Owner HARBIN ENG UNIV
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