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Auxiliary brake device for water body robot and using method

A robot-assisted and braking device technology, which is applied to the steering device, transportation and packaging, and steering with an extendable baffle, can solve the problems of loss of rudder effect, slow braking effect, narrow application area, etc., and achieve controllability , Easy installation and simple maintenance

Inactive Publication Date: 2017-09-08
DAPENG GAOKE WUHAN INTELLIGENT EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, none of these braking methods can meet the braking needs of robots in water areas. Among them, the braking effect of using the retrograde water flow to stop the ship is slow, and the controllability of the brake when breaking down is low. or loss of rudder effect

Method used

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  • Auxiliary brake device for water body robot and using method
  • Auxiliary brake device for water body robot and using method
  • Auxiliary brake device for water body robot and using method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Such as Figure 1~5 As shown, Embodiment 1 of the present invention provides an auxiliary braking device for a water area robot, which can be applied to various water area robots such as unmanned ships or underwater robots.

[0038] An auxiliary braking device for a water area robot, comprising a hull 1, in which a control system 2, a communication module 3, a monitoring module 4, a dynamic braking module 5 and a water resistance braking module 6 are arranged; the control system 2, The communication module 3 and the monitoring module 4 are connected in pairs; the control system 2 and the external command system 7 send signals to each other through the communication module 3, and the monitoring module 4 can monitor the status information of the water area robot in real time, and the obtained status information can be transmitted to the control system respectively 2 and external command system 7 for real-time control.

[0039] The control system 2 is respectively connect...

Embodiment 2

[0049] In the use method of the auxiliary braking device of the robot in this water area, there are many methods for making the brake characteristic library, such as by carrying out real ship sea experiments, establishing a mathematical model and a simulation system to obtain reference data, because the application of the simulation system is relatively large. Wide range, high experimental efficiency, in the embodiment of the present invention, various simulation system experiments are usually used to make the brake characteristic library. The process of making the brake characteristic library will be described in detail below based on the module combination mode in Embodiment 1.

[0050] According to the physical characteristics of the weight and center of gravity of the hull 1, a simulation experiment is carried out when designing the hull 1 to obtain the corresponding external force required by the robot in different speed ranges, so as to determine the corresponding paramet...

Embodiment 3

[0061] Further, in the current water environment, the water flow speed is fast, the wind and waves are greatly affected, or the water area robot is affected by obstacles, and the driving route is non-linear, based on the combination of modules in Example 2, the left and right During the execution of the initial control commands [W1, B1, W2, B2, A1, A2] by the right hydraulic brake module 6, after the left and right brake discs 15 complete the initial control commands [A1, A2], due to external influence and deviate from the target angle.

[0062] At this time, a feedback optimization step can be set on the water resistance brake module 6, and the control system 2 sends an advanced control command to the water resistance brake module 6; the advanced control command is when the information is [W1, B1, W2, B2 , A1, A2] after the initial control command is issued, the monitoring module 4 monitors the state information of the robot hull in real time and feeds it back to the control ...

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Abstract

The invention relates to the technical field of water body robots and discloses an auxiliary brake device for a water body robot and a using method. According to the technical scheme, the auxiliary brake device for the water body robot comprises a control system, a communication module, a monitoring module, a powder brake module and a water resistance braking module which are arranged in a ship body; the control system, the communication module and the monitoring module are connected in pairs; the control system is separately connected to the power brake module and the water resistance braking module; the power brake module comprises an intelligent rudder and a brake propeller, the intelligent propeller is connected to the brake propeller, and the intelligent propeller controls the brake propeller to work; the water resistance brake module comprises a brake disc, a displacement module and a rotary module, the brake disc is separately connected to the displacement module and the rotary module, and the displacement module controls the brake disc to fold and unfold; and the rotary module controls the rotary angle of the brake disc. The auxiliary brake device provided by the invention provides convenience for self-adaptive navigational speed of the robot and the water body flow rate, and controls resistance from many angles longitudinally and transversely, so that the brake technical demand on high operability and high efficiency of the water body robot is met.

Description

[0001] 【Technical field】 [0002] The invention relates to the technical field of water area robots, in particular to a water area robot auxiliary braking device and a using method. [0003] 【Background technique】 [0004] With the large-scale application of water area robots in the development of modern science and technology, the requirements for the operation performance of water area robots are getting higher and higher, and the brake control has always had technical defects. In the daily use of ordinary ships, the inertia of the ship itself is large during navigation, and the braking effect under the same braking operation becomes worse with the increase of its own load. Brake design has always been a difficult problem for designers. [0005] In the existing braking methods, in the order of critical situations from small to large, ships will use different braking methods to brake, such as using the steering of the rudder so that it is opposite to the direction of the water...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H25/44B63H25/50
CPCB63H25/44B63H25/50
Inventor 刘飞李刚池晓阳张保平刘中凡张吉伟张良曦
Owner DAPENG GAOKE WUHAN INTELLIGENT EQUIP CO LTD
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