Crawler-type desilting robot adaptive to complex terrains and detrapping method

Abstract

The invention provides a crawler-type desilting robot adaptive to complex terrains and a de-trapping method. The robot comprises a robot main body, the pair of forward rotatable supporting mechanisms is symmetrically mounted on the left side and the right side of the front part of the robot main body; the pair of backward telescopic supporting mechanisms are symmetrically mounted on the left side and the right side of the rear part of the robot main body; the propeller propelling mechanisms are mounted in the middle of the robot main body; and a control unit. According to the underwater robot, the supporting mechanism is tightly matched with the propeller propelling mechanism, so that the underwater robot can be quickly and stably separated from the dilemma such as sludge.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to a caterpillar type dredging robot with complex terrain adaptability and a method for escaping from trouble. BACKGROUND

[0002] Underwater robots, especially caterpillar type or wheeled bottom crawling underwater robots, are widely used in the fields of scientific exploration, underwater engineering, rescue and salvage, etc. However, when such robots work on soft bottom soil such as underwater silt and sand, they are prone to sinking, burying and even getting stuck. The traditional method for escaping from trouble usually relies on increasing the power of the propeller or twisting the caterpillar track, which often has the opposite effect and further agitates the sand, exacerbating the degree of sinking.

[0003] In the prior art, there are also some schemes for adding support mechanisms to robots, but most of them have single functions or lack effective coordination with the propulsion system, which cannot achieve stable and controllable movement for escaping from trouble while providing strong lifting force, and are difficult to cope with complex underwater environments.

[0004] Therefore, there is an urgent need for an intelligent escape system that integrates active lifting, stable support and multi-mode propulsion to significantly improve the operation reliability and survival ability of underwater robots in complex bottom soil environments. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art and provide a caterpillar type dredging robot with complex terrain adaptability and a method for escaping from trouble, which enables underwater robots to quickly and stably escape from silt and other difficulties through the close cooperation of the support mechanism and the propeller propulsion mechanism.

[0006] To achieve the above purpose, the present application adopts the following technical solutions: A caterpillar type dredging robot with complex terrain adaptability, comprising: a robot main body; a pair of forward rotatable support mechanisms symmetrically installed on the left and right sides of the front part of the robot main body; a pair of rear retractable support mechanisms symmetrically installed on the left and right sides of the rear part of the robot main body; a plurality of propeller propulsion mechanisms installed in the middle part of the robot main body; and a control unit; The forward rotatable support mechanism comprises a first support arm hinged to the robot main body through a rotating shaft, a support plate connected to the end of the first support arm, and a first drive component driving the rotation of the first support arm; one end of the first drive component is hinged to the rotating shaft, and the other end is hinged to the first support arm; The rearward telescopic support mechanism comprises a fixed base, a second support arm hinged to the fixed base, a second driving component driving the second support arm to rotate through a hinge point, and a third driving component driving the second support arm to telescope; the second support arm is composed of a proximal segment and a distal segment which can slide relative to each other, and the third driving component is installed on the second support arm, one end of which is connected to the proximal segment and the other end is connected to the distal segment; The propeller propulsion mechanism comprises a propeller propulsion device hinged to the fixed frame of the robot body through a connecting arm, and a fourth driving component driving the connecting arm to rotate and lock the angle; the propeller propulsion device comprises a propeller and a fifth driving component driving the propeller to work; The control unit is configured to control the forward rotatable support mechanism and the rearward telescopic support mechanism to act, so that the respective support plates or support arm ends touch the ground and press the water bottom, and then synchronously drive the first driving component and the third driving component to extend, so as to generate upward support force to lift the robot body; at the same time, the control unit controls the propeller propulsion mechanism to provide auxiliary lifting force or stabilizing torque.

[0007] Preferably, the first driving component and the third driving component are large-thrust push rod motors.

[0008] Preferably, the second driving component is an internal electric cylinder, the cylinder body end of which is hinged inside the fixed base, and the push rod end is hinged to the proximal segment of the support arm.

[0009] Preferably, the fourth driving component is a servo motor, which drives the rotation angle of the connecting arm to be between 5° and 90° with the vertical plane.

[0010] Preferably, the number of propeller propulsion mechanisms is four, which are symmetrically arranged in the middle of the robot body.

[0011] Preferably, the control unit is further configured to control the forward support mechanism to rotate, and the second driving component and the third driving component of the rearward support mechanism to contract after the robot body is lifted, so as to provide forward power.

[0012] A method for escaping from a complex terrain based on the above-mentioned complex terrain adaptive tracked dredging robot, comprising the following steps: (1) controlling the propeller propulsion mechanism to adjust to an upward or oblique upward angle and provide thrust, assisting in lifting the robot and providing anti-rollover stabilizing torque; (2) controlling the forward rotatable support mechanism to rotate to a specific angle, and driving the first driving component to extend, so that the support plate compacts the water bottom ground; (3) controlling the second driving component of the rearward telescopic support mechanism to act, driving the support arm to rotate to a predetermined angle, and driving the third driving component to contract, so that the support arm end touches the ground and compacts the water bottom; (4), the first driving part of the forward driving mechanism and the third driving part of the backward driving mechanism continue to extend, generating strong upward supporting force, which lifts the robot body upward from the silt. After the robot body is lifted out of the silt, the method further comprises the steps of: (1), controlling the forward supporting mechanism to rotate to change the supporting point position; (2), controlling the second driving part and the third driving part of the backward supporting mechanism to contract; (3), using the reaction force of the supporting mechanism and the water bottom ground to provide forward power for the robot, so that it leaves the sinking area.

[0013] When the robot needs to turn, the four propeller propulsion mechanisms are controlled to generate differential torque to assist the robot to turn.

[0014] The beneficial effects of the present application are: 1. Active lifting, efficient escape: the large-thrust supporting mechanism directly borrows power from the water bottom to vertically lift the robot, which fundamentally overcomes the silt adsorption force and avoids the problem of sinking deeper in the traditional way.

[0015] 2. Multiple mechanisms cooperate, powerful: the supporting mechanism is responsible for providing the main supporting point and lifting force, and the propeller propulsion mechanism simultaneously provides auxiliary lifting force, stability torque and propulsion power, which closely cooperate with each other to realize the integration of "lifting, lifting, pushing and stabilizing", and the escape efficiency and success rate are extremely high.

[0016] 3. High stability: the design of the supporting plate increases the ground contact area to prevent secondary subsidence; the propeller can provide anti-overturning torque in real time to ensure the stability of the robot posture during lifting and moving, especially suitable for complex and uneven water bottom environment.

[0017] 4. Strong adaptability: the supporting mechanism and the adjustable angle propeller combination of the present application not only can be used for escape, but also can enhance the passability, residence operation stability of the robot on the complex bottom soil, and realize flexible turning, one machine with multiple functions. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the overall structure schematic diagram of the present application; Figure 2 is the structure schematic diagram of the forward rotatable supporting mechanism of the present application; Figure 3 is the structure schematic diagram of the backward telescopic supporting mechanism of the present application; Figure 4 is the structure schematic diagram of the propeller propulsion mechanism of the present application Figure 1 ; Figure 5 is the structure schematic diagram of the propeller propulsion mechanism of the present applicationFigure 2 . Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0020] like Figure 1 As shown, a multi-mechanism collaborative active escape system for underwater robots includes a robot body, a forward rotatable support mechanism 1, a rearward retractable support mechanism 2, a propeller propulsion mechanism 3, and a control unit.

[0021] like Figure 2 As shown, the forward-rotating support mechanism 1 is symmetrically hinged to the left and right sides of the front of the robot body. It includes a rotating shaft 13 fixed to the robot body; a first support arm 11, one end of which is hinged to the rotating shaft 13, allowing the first support arm 13 to rotate around the axis of the rotating shaft between a retracted position (folded to the side of the robot body) and an extended position (extended outwards and downwards); a support plate 12 fixedly connected to the other end of the first support arm 11 by bolts 15; and a first drive component 14, preferably a high-thrust push rod motor, with its cylinder end hinged to the rotating shaft 13 and its push rod end hinged to the first support arm 11. By controlling the extension and retraction of the first drive component 14, the first support arm can be driven to rotate and its angle with the vertical line adjusted, ultimately pressing the support plate 12 against the bottom of the water.

[0022] like Figure 3 As shown, the rearward retractable support mechanism 2 is symmetrically installed on the left and right sides of the rear of the robot body. It includes a fixed base 22, fixed to the robot body; a second support arm hinged to the fixed base 22; a second drive component 21, preferably a built-in electric cylinder, with its cylinder end hinged inside the fixed base 22 and its push rod end hinged to the second support arm, used to drive the entire second support arm to rotate around the hinge point; the second support arm consists of a proximal section 23 and a relatively slidable distal section 24; a third drive component 25, preferably a high-thrust push rod motor, with its cylinder end fixed to the proximal section 23 of the second support arm and its push rod end connected to the distal section 24, used to drive the distal section 24 to extend and retract, so as to adjust the total length and end height of the second support arm, so that it touches the ground and presses against the bottom of the water.

[0023] like Figure 4As shown, there are four propeller propulsion mechanisms, symmetrically installed in the middle of the robot body. Each mechanism includes a fixed frame 33, fixed to the robot body; a connecting arm 35, one end of which is hinged to the fixed frame 33 via two pivots; a propeller thruster, installed at the other end of the connecting arm 35, the propeller thruster including a propeller 32 and a fifth drive component 34, preferably a drive motor, to drive its rotation; and a fourth drive component 31, preferably a servo motor, installed on the fixed frame 22 and driving the connecting arm 35 to rotate, locking it at any angle between 5° and 90° with respect to the vertical plane. The four propeller propulsion mechanisms can independently control their angle and thrust to provide thrust, lift, or steering torque in different directions.

[0024] The control unit is electrically connected to all drive components and propeller thrusters, and is used to coordinate and control the actions of each mechanism to execute the escape process.

[0025] The present invention also provides an escape method based on the above-mentioned robot, comprising the following steps: Preparation and compaction stage: The control unit controls the forward rotatable support mechanism 1 to rotate to a specific angle and drives its first drive component 14 to extend, so that the support plate 12 compacts the bottom of the water; at the same time, it controls the second drive component 21 of the rearward retractable support mechanism 2 to move, drive the second support arm to rotate to a predetermined angle, and drive its third drive component 25 to retract, so that the end of the second support arm touches the ground and compacts the bottom of the water.

[0026] Active lifting phase: The first drive component 14 of the forward rotatable support mechanism 1 and the third drive component 25 of the rearward telescopic support mechanism 2 continue to extend, using the reaction force of the underwater ground to generate a strong upward support force, lifting the robot body from the silt as a whole, so that the chassis is freed from the silt.

[0027] Collaborative Assistance Phase: During the lifting phase, the propeller propulsion mechanism 3 is adjusted to an upward or oblique angle and thrust is provided to offer additional lift and generate a stabilizing torque to prevent rollover, ensuring a smooth lifting process.

[0028] Propelling the robot out of its predicament: After the robot body is lifted up, the forward rotatable support mechanism 1 is controlled to rotate and the second drive component 21 and the third drive component 25 of the telescopic support mechanism 2 are retracted. The interaction between the support plate 22 and the ground provides forward power for the robot. At the same time, the propeller propulsion mechanism 3 is controlled to provide the main forward thrust or adjust the attitude so that the robot can completely leave the sunken area.

[0029] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A tracked dredging robot adaptable to complex terrain, characterized in that, include: Robot body; A pair of forward-rotatable support mechanisms are symmetrically installed on the left and right sides of the front of the robot body; A pair of rearward retractable support mechanisms are symmetrically installed on the left and right sides of the rear of the robot body; Multiple propeller propulsion mechanisms are installed in the middle of the robot body; and control unit; The forward rotatable support mechanism includes a first support arm hinged to the robot body via a pivot, a support plate connected to the end of the first support arm, and a first drive component for driving the first support arm to rotate; one end of the first drive component is hinged to the pivot, and the other end is hinged to the first support arm. The rearward retractable support mechanism includes a fixed base, a second support arm hinged to the fixed base, a second drive component that drives the second support arm to rotate through the hinge point, and a third drive component that drives the second support arm to extend and retract; the second support arm consists of a proximal section and a relatively slidable distal section, and the third drive component is mounted on the second support arm, with one end connected to the proximal section and the other end connected to the distal section; The propeller propulsion mechanism includes a propeller thruster hinged to a fixed frame on the robot body via a connecting arm, and a fourth drive component that drives the connecting arm to rotate and locks the angle; the propeller thruster includes a propeller and a fifth drive component that drives it to work. The control unit is configured to: control the forward rotatable support mechanism and the rear telescopic support mechanism to move so that the ends of their respective support plates or support arms touch the ground and press against the bottom of the water, and then synchronously drive the first drive component and the third drive component to extend to generate an upward support force to lift the robot body; at the same time, control the propeller propulsion mechanism to provide auxiliary lift or stabilizing torque.

2. The tracked dredging robot adaptable to complex terrain according to claim 1, characterized in that, The first and third drive components are high-thrust push rod motors.

3. The tracked dredging robot adaptable to complex terrain according to claim 1, characterized in that, The second driving component is a built-in electric cylinder, with its cylinder body hinged to the inside of the fixed base and its push rod hinged to the proximal section of the support arm.

4. The tracked dredging robot adaptable to complex terrain according to claim 1, characterized in that, The fourth driving component is a servo motor, which drives the connecting arm to rotate within an angle of 5° to 90° with respect to the vertical plane.

5. The tracked dredging robot adaptable to complex terrain according to claim 1, characterized in that, The number of propeller propulsion mechanisms is four, symmetrically arranged in the middle of the robot body.

6. The tracked dredging robot with complex terrain adaptability according to claim 1, characterized in that, The control unit is also configured to: after the robot body is lifted, control the forward support mechanism to rotate and the second and third drive components of the rearward support mechanism to retract to provide forward power.

7. A method for escaping obstacles for a tracked dredging robot adaptable to complex terrain as described in any one of claims 1-6, characterized in that, Includes the following steps: (7.1) Control the propeller propulsion mechanism to adjust to an upward or oblique upward angle and provide thrust to assist in lifting the robot and provide anti-tipping stabilizing torque; (7.1) Control the forward rotatable support mechanism to rotate to a specific angle and drive its first drive component to extend so that the support plate compacts the bottom surface; (7.2) Control the second drive component of the rearward retractable support mechanism to rotate the support arm to a predetermined angle and drive its third drive component to retract, so that the end of the support arm touches the ground and presses against the bottom of the water. (7.3) The first drive component of the synchronously driven forward mechanism and the third drive component of the backward mechanism continue to extend, generating a strong upward supporting force, which lifts the robot body out of the silt.

8. The method for escaping from difficult terrain for a tracked dredging robot adaptable to complex terrain as described in claim 7, characterized in that, After the robot body is lifted off the mud, the following steps are also included: (8.1) Control the forward support mechanism to rotate to change the position of the support point; (8.2) Control the retraction of the second and third drive components of the rearward support mechanism; (8.3) Utilize the reaction force between the support mechanism and the underwater ground to provide forward propulsion for the robot, enabling it to leave the sunken area.

9. The method for escaping from difficult terrain for a tracked dredging robot adaptable to complex terrain as described in claim 7, characterized in that, When the robot needs to turn, the four propeller propulsion mechanisms are controlled to generate differential torque to assist the robot in turning.

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