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An underwater autonomous operation robot and its operation method

A kind of working robot and robot technology, applied in underwater operation equipment, transportation and packaging, ships, etc., can solve the problems of low detection efficiency, difficulty in achieving full coverage detection, and entanglement by cables, etc.

Active Publication Date: 2020-04-28
NORTHWESTERN POLYTECHNICAL UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The advantage of this method is that it can realize rapid detection of a large area; the main disadvantages: 1) Since the sonar and optical imaging equipment are fixedly installed on the robot shell, it can only detect a specific working surface, and it does not have Detection capabilities of vertical sides, inclined surfaces, top surfaces, and bottom surfaces; 2) Robots can usually only perform on-the-fly detection on the working surface, and it is difficult to achieve fixed-point hovering detection; 3) In order to achieve autonomous underwater detection, robots usually use inertial navigation equipment to measure the heading and attitude of the robot, and the Doppler velocimeter facing the seabed to measure the absolute speed of the robot relative to the seabed, so as to realize the absolute navigation of the robot underwater. However, since the navigation error will accumulate over time, it is difficult to follow-up. The acoustic and optical images detected by the robot are accurately spliced; 4) The information detected by the robot can only be uploaded afterwards, lacking real-time performance
The advantages of this method are as follows: 1) Although the sonar and optical imaging equipment are fixedly installed on the robot shell, since the remote-controlled underwater robot adopts the structural layout of multiple thrusters, it is still possible to control the attitude of the remote-controlled underwater robot. 2) Fixed-point hover detection can be realized; 3) The information detected by the robot can be uploaded in real time; main disadvantages: 1) The detection of the robot lacks autonomy; 2) The detection efficiency is low due to the entanglement of cables , the operating area is limited; 3) The detection operation depends on the experience of the operator, and the operator has high technical requirements; 4) The operator's experience is limited, and it is difficult to achieve 100% full coverage detection

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  • An underwater autonomous operation robot and its operation method
  • An underwater autonomous operation robot and its operation method
  • An underwater autonomous operation robot and its operation method

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Embodiment Construction

[0055] The present invention is an underwater autonomous operation robot for acoustic and optical detection of various underwater working surfaces. The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and the specific implementation modes of the present invention will be further described.

[0056] It should be noted that the words indicating orientation used in the present invention are only for the convenience of expression, and they only indicate the relative positional relationship between different components at a certain viewing angle, and do not mean the absolute positional relationship of specific components . For example, refer to figure 1 , the front end and the back end in the present invention respectively correspond to figure 1 The upper end and the lower end of the underwater autonomous operation robot, the left and right sides in the present invention, then respectively correspond to figure 1 T...

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Abstract

The invention relates to the field of underwater operating robots, and provides an underwater autonomous operating robot which is suitable for acoustic and optical detection of various underwater operating surfaces, and an operating method of the underwater autonomous operating robot. The underwater autonomous operating robot comprises an energy power module, a mechanical structure design module,an appearance design module, a master control module, a power propelling module and a functional module, wherein the master control module comprises a strong-current electronic control cabinet and a weak-current electronic control cabin; the power propelling module comprises at least two side thrusters, at least two vertical thrusters and at least one longitudinal main thruster; and the functionalmodule comprises a doppler velocity sonar, an imaging sonar, an optical camera integrated with an LED lamp, an optical communication MODEM, a depth and height meter, a front-end cloud deck and a rear-end cloud deck. The underwater autonomous operating robot provided by the embodiment of the invention is wider in detecting range, is more flexible in detecting way, and can realize autonomous operation.

Description

technical field [0001] The invention relates to the field of underwater operation robots, in particular to an underwater autonomous operation robot suitable for acoustic and optical detection of various underwater operation surfaces and an operation method thereof. Background technique [0002] With the implementation of my country's marine power strategy, both the marine economy and the marine military have put forward urgent requirements for underwater autonomous operating robots. In terms of marine economy, underwater infrastructure needs to be regularly inspected after a long period of underwater operation to ensure the safety of underwater infrastructure operations. For example, the sides of reservoirs in the water conservancy industry, the sides of dams in the power industry and underwater facilities for offshore wind power generation, the sides of underwater bridge piers in the transportation industry, the sides and bottom of drilling platforms in the offshore oil and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52
CPCB63C11/52
Inventor 严卫生崔荣鑫邓飞李慧平许晖张福斌高剑邢瑶蒋绍博
Owner NORTHWESTERN POLYTECHNICAL UNIV
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