Robot applied to fluid environment

Abstract

The invention provides a robot applied to a fluid environment, and belongs to the field of miniature underwater robots. The problems that an existing underwater robot driving unit is large in size, heavy in weight and poor in flexibility are solved. The device comprises a shell, a plurality of ultrasonic transducers are arranged on the outer wall, and the resonant frequencies of all the ultrasonic transducers are different or at least partially different; the controller is used for outputting a specific frequency electric signal to the corresponding ultrasonic transducer, and the corresponding ultrasonic transducer is used for responding to the specific frequency electric signal and then pushing the shell to act in the fluid through resonance. The device is mainly used for working in fluid.

Description

Technical Field

[0001] The invention belongs to the field of micro underwater robots, and in particular relates to a robot applied in a fluid environment. Background Art

[0002] Micro underwater robots have shown their unique value and potential in many fields, including but not limited to marine research, environmental monitoring, industrial pipeline inspection and underwater archaeology. Due to their small size, flexibility and low cost, micro underwater robots are very suitable for performing specific tasks, such as detection and data collection in narrow or complex environments.

[0003] In terms of propulsion mechanism, micro underwater robots mainly use propeller propulsion, water jet propulsion and bionic propulsion. However, these propulsion methods usually require larger drive units, which limits the ability to integrate multiple drive units in micro robots to achieve flexible movement with multiple degrees of freedom. To overcome this challenge, researchers are exploring new propulsion technologies, such as using multiple small thrusters to improve maneuverability and maneuverability, or developing new propulsion mechanisms, such as using flexible materials or bionic designs to simulate the movement of organisms in nature.

[0004] In terms of application scenarios, micro underwater robots are used to perform various tasks, such as marine environment observation, seabed topography mapping, underwater target detection and anti-mine warfare, etc. For example, Vertex AUV, developed by Hydromea of ​​Switzerland, is a highly integrated distributed AUV, mainly used for water element measurement, with 5 thrusters, capable of multiple degrees of freedom, including forward and backward, bow turning, pitch, roll and heave, and has the ability to navigate at constant depth and hover.

[0005] To improve the performance of micro underwater robots, researchers are working to solve some key technical problems, such as improving energy efficiency to extend endurance, enhancing sensor capabilities to improve environmental perception and target recognition capabilities, and developing swarm intelligence technology to enable multiple micro underwater robots to work together to improve the efficiency and effectiveness of mission execution.

[0006] In general, the research and application of micro underwater robots are developing rapidly. With the continuous advancement of technology, these small robots will play an increasingly important role in future underwater operations. However, the existing propulsion methods are inflexible in complex environments, large in size, and heavy in weight. Facing the demand scenarios such as underwater rock, structure, sediment crack detection and industrial pipeline inspection, it is difficult to enter and realize flexible manipulation, and there is a lack of corresponding robot platforms. Summary of the invention

[0007] In view of this, the present invention aims to propose a robot for use in a fluid environment to solve the problems of large size, heavy weight and poor flexibility of the existing underwater robot drive unit.

[0008] To achieve the above object, the present invention adopts the following technical solution to provide a robot applied to a fluid environment, including:

[0009] A shell, on the outer wall of which a plurality of ultrasonic transducers are arranged, wherein the resonant frequencies of all the ultrasonic transducers are different or at least partially different;

[0010] The controller is used to output an electrical signal of a specific frequency to the corresponding ultrasonic transducer, and the corresponding ultrasonic transducer is used to resonate and drive the housing to move in the fluid in response to the electrical signal of the specific frequency.

[0011] Furthermore, three ultrasonic transducers are specifically provided, two of which are symmetrically arranged with respect to two sides of the shell, and the remaining one is arranged at the tail of the shell.

[0012] Furthermore, the shell includes a head frame, a middle frame and a tail frame which are connected in sequence.

[0013] Furthermore, a camera is arranged on the housing, and the camera is connected to the controller.

[0014] Furthermore, a searchlight is provided on the shell for illuminating the camera shooting area, a power supply is provided in the shell, the controller is connected to the power supply, and the searchlight is connected to the controller.

[0015] Furthermore, the housing is provided with a charging port connected to the power source.

[0016] Furthermore, the controller includes a communication module and a circuit control module, the communication module is connected to the ground control terminal, the communication module is connected to the circuit control module, and the circuit control module is connected to all the ultrasonic transducers.

[0017] Furthermore, the communication module is connected to the circuit control module through the signal processing module.

[0018] Furthermore, all of the ultrasonic transducers have the same structure, and include a piezoelectric ceramic sheet in the middle and a backing and a matching layer on both sides thereof.

[0019] Furthermore, the piezoelectric ceramic sheet is a lead zirconate titanate piezoelectric ceramic sheet, the backing is an air backing, and the matching layer is an alumina filler epoxy resin.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. This robot drives the underwater micro-robot by setting multiple ultrasonic transducers as driving units. According to the direction of advance, the corresponding resonant frequency is selected for output to make the corresponding ultrasonic transducer resonate, so as to achieve the purpose of moving in the corresponding direction. According to the posture of the movement, the corresponding ultrasonic transducer is selected for operation. The corresponding execution method can be selected according to different action targets, and then multi-degree-of-freedom flexible movement can be achieved in the face of complex demand scenarios, which brings new technical ideas for precision operations in underwater and fluid working environments;

[0022] 2. The ultrasonic transducer uses an air layer as a backing, which can generate sound wave vibrations. After coupling with water or fluid, it will generate a reverse driving force, thereby helping the micro underwater robot to move and adapt to complex usage scenarios;

[0023] 3. As the driving unit of the micro robot, the ultrasonic transducer is light and small in size, and can ensure sufficient thrust, providing new ideas and options for the driving method of the micro robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 An exploded view of an underwater robot according to the present invention;

[0026] Figure 2 A side view of an underwater robot according to the present invention;

[0027] Figure 3 A cross-sectional view of an underwater robot according to the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of the ultrasonic transducer of the present invention;

[0029] Figure 5 This is a control principle diagram of an underwater robot described in the present invention.

[0030] Head frame 1; middle frame 2; tail frame 3; searchlight 4; charging port 5; camera 6; power supply 7; signal processing module 8; communication module 9; circuit control module 10; backing 11; first lead zirconate titanate piezoelectric ceramic sheet 12; matching layer 13; second lead zirconate titanate piezoelectric ceramic sheet 14; third lead zirconate titanate piezoelectric ceramic sheet 15. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0032] It should be noted that the descriptions of the present invention regarding directions such as "left", "right", "left side", "right side", "upper", "lower", "top", "bottom", etc. are all defined based on the relationship between the orientations or positions shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the structure described must be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention. In the description of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0033] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Referring to the accompanying drawings, this embodiment is described, providing a robot for use in a fluid environment, comprising:

[0035] The shell has a plurality of ultrasonic transducers arranged on the outer wall, wherein the resonant frequencies of all the ultrasonic transducers are different or at least partially different; the shell comprises a head frame 1, a middle frame 2 and a tail frame 3 connected in sequence, and adopts a segmented structure, so that the damaged part can be replaced, reducing the cost of overall replacement. At the same time, in this way, it is convenient to modularize the design and installation of the internal functional area, which is convenient to improve the convenience of assembly during the production process and the convenience of disassembly and maintenance, and improve the operating efficiency of each life cycle of the product. The head frame 1, the middle frame 2 and the tail frame 3 must ensure sealing when assembling, and the internal components can be ensured to be not affected by water factors underwater or in fluids to prevent the occurrence of faults. A slot is arranged inside the front end of the head frame 1 for placing and installing the camera 6, and a slot is arranged inside the front part of the middle frame 2 near the side of the head frame 1 for accommodating the power supply 7, and three slots are arranged inside the rear side of the middle frame 2, which are respectively used to place the signal processing module 8, the communication module 9 and the circuit control module 10.

[0036] The controller is used to output an electrical signal of a specific frequency to the corresponding ultrasonic transducer, and the corresponding ultrasonic transducer is used to resonate and drive the housing to move in the fluid in response to the electrical signal of the specific frequency.

[0037] The controller outputs a specific frequency electrical signal to the corresponding ultrasonic transducer, so that the corresponding ultrasonic transducer resonates and generates ultrasonic waves, which are coupled into the liquid medium to generate acoustic radiation force, and the reaction force pushes the ultrasonic transducer to realize the movement of the micro underwater robot. According to actual needs, multiple ultrasonic transducers with the same resonant frequency can be used at the same position, and the simultaneous resonance to generate ultrasonic waves can increase the driving force of a single point.

[0038] In this embodiment, three ultrasonic transducers are specifically provided, two of which are symmetrically arranged relative to the two sides of the housing, and the remaining one is arranged at the tail of the housing. The three ultrasonic transducers are respectively a first lead zirconate titanate piezoelectric ceramic sheet 12 with a resonance frequency of 2MHz, a second lead zirconate titanate piezoelectric ceramic sheet 14 with a resonance frequency of 3MHz, and a third lead zirconate titanate piezoelectric ceramic sheet 15 with a resonance frequency of 4MHz. Figure 3 The installation positions of three ultrasonic transducers are shown. The ultrasonic transducers all use alumina filler epoxy resin as the matching layer 13, with an impedance of about 7 MRayl, and the backing 11 uses air. Two slots are symmetrically arranged on the left and right sides of the outside of the middle frame 2, which are used to install the second lead zirconate titanate piezoelectric ceramic sheet 14 with a resonance frequency of 3MHz and the third lead zirconate titanate piezoelectric ceramic sheet 15 with a resonance frequency of 4MHz; a slot is arranged on the rear side of the outside of the middle frame 2, which is used to install the first lead zirconate titanate piezoelectric ceramic sheet 12 with a resonance frequency of 2MHz. According to the requirements of flexibility, the number of ultrasonic transducers can be set to be more, and they can be set in different directions of the shell, so that more usage requirements can be met, but the corresponding weight will be increased, and it can be balanced according to actual needs. The difference in quantity and setting position is within the spirit of the present invention.

[0039] In this embodiment, a camera 6 is provided on the housing, and the camera 6 is connected to the controller. The camera 6 can observe the working environment underwater, so that the ground personnel can understand the underwater working conditions, and output corresponding instructions according to actual needs to achieve the purpose of controlling the robot. When the camera 6 is selected, it should be able to meet the pressure requirements of the corresponding underwater working depth. Specifically, the camera 6 is connected to the signal processing module 8, and the signal processing module 8 transmits the video stream collected by the camera 6 to the communication module 9. The communication module 9 transmits the signal to the ground terminal to feedback the captured picture, so that the ground terminal can control the underwater micro robot accordingly according to the picture. The specific connection method and usage method are reasonably set according to actual needs.

[0040] In this embodiment, a searchlight 4 is provided on the housing for illuminating the camera 6 shooting area, a power supply 7 is provided in the housing, the circuit control module 10 is connected to the power supply 7, and the searchlight 4 is connected to the circuit control module 10. The illumination area of ​​the searchlight 4 coincides with the camera 6 shooting area, and can provide light for the camera 6, so that effective observation can be performed in the deep water area where the light is relatively poor.

[0041] In this embodiment, the housing is provided with a charging port 5 connected to the power source 7. The charging port 5 can be charged by the power source 7. The connection between the charging port 5 and the housing is also sealed to ensure that the two are tightly connected and no water leakage occurs, which affects the normal use of internal components. The specific connection structure of the charging port 5 and the power source 7 can be referred to the prior art, and can be reasonably set according to the actual selection.

[0042] In this embodiment, the controller includes a communication module 9 and a circuit control module 10, wherein the communication module 9 is connected to the ground control terminal, the communication module 9 is connected to the circuit control module 10, and the circuit control module 10 is connected to all the ultrasonic transducers. When in use, the communication module 9 exchanges signals with the ground control terminal, responds to the signal of the ground terminal and transmits the signal to the signal processing module 8, the signal processing module 8 transmits the signal to the circuit control module 10 after processing, the circuit control module 10 outputs the corresponding resonant frequency, the corresponding ultrasonic transducer resonates according to the frequency and generates ultrasonic waves, the ultrasonic waves are coupled into the liquid medium to generate acoustic radiation force, and its reaction force drives the ultrasonic transducer to realize the movement of the micro underwater robot, and the circuit control module 10 is also used to control the searchlight 4. The connection mode between the signal processing module 8, the communication module 9 and the circuit control module 10 can be reasonably set with reference to the prior art. Similarly, the connection mode and signal transmission mode between the circuit control module 10 and the ultrasonic transducer also adopt the prior art, which will not be repeated here.

[0043] In this embodiment, the communication module 9 is connected to the circuit control module 10 through the signal processing module 8. The communication module 9 transmits the received signal to the signal processing module 8, and the signal processing module 8 transmits the processed signal to the circuit control module 10 for processing, so that the corresponding ultrasonic transducer is controlled to operate through the circuit control module 10.

[0044] In this embodiment, all the ultrasonic transducers have the same structure, and include a piezoelectric ceramic sheet in the middle and a backing 11 and a matching layer 13 on both sides thereof.

[0045] A micro drive unit based on a piezoelectric ultrasonic transducer; ultrasonic waves are coupled into the liquid medium to generate acoustic radiation force, and its reaction force drives the ultrasonic transducer to realize the movement of the micro underwater robot.

[0046] Wherein, the thickness of the matching layer 13 is h l The calculation formula is:

[0047]

[0048] In formula (1): l is the wavelength in the matching layer, c l is the sound velocity in the matching layer, and f0 is the resonant frequency.

[0049] A plurality of ultrasonic transducers are connected in parallel; the control circuit outputs a frequency-adjustable signal corresponding to the resonant frequencies of the plurality of ultrasonic transducers to realize the gating of the drive unit, thereby realizing the multi-degree-of-freedom motion control of the micro underwater robot.

[0050] Preferably, the ultrasonic transducer adopts a piezoelectric mechanism; further, the piezoelectric material is lead zirconate titanate, barium titanate, lithium niobate and their composite piezoelectric materials; further, the resonant frequency of the ultrasonic transducer is 1kHz-100MHz.

[0051] In this embodiment, the piezoelectric ceramic sheet is a lead zirconate titanate piezoelectric ceramic sheet, the backing 11 is an air backing, and the matching layer 13 is an alumina filler epoxy resin. Air as a backing can obtain better acoustic wave characteristics, thereby forming an effective driving force.

[0052] During assembly, the camera 6 is embedded in the internal slot at the front end of the head frame 1; the signal processing module 8, the communication module 9, and the circuit control module 10 are embedded in the three internal slots at the rear end of the middle frame 2; the power supply 7 is embedded in the internal slot at the front end of the middle frame 2; wires are welded on the three lead zirconate titanate piezoelectric ceramic sheets, and the lead zirconate titanate piezoelectric ceramic sheet 12 with a resonance frequency of 2MHz is installed in the slot at the rear side of the outside of the middle frame 2 with silicone rubber; the lead zirconate titanate piezoelectric ceramic sheet 14 with a resonance frequency of 3MHz and the lead zirconate titanate piezoelectric ceramic sheet 15 with a resonance frequency of 4MHz are installed in the slots on the left and right sides of the outside of the middle frame 2 with silicone rubber; the searchlight 4 is installed on the outside of the middle frame with silicone rubber; the wires of each part are connected; after the head frame 1, the middle frame 2, and the tail frame 3 are connected with silicone rubber, they are put into water to check the sealing;

[0053] After the above is completed, the robot is put into water and powered on for testing. The control signal sent by the external terminal is received by the communication module 9 and transmitted to the circuit control module 10 via the signal processing module 8. When the frequency of the electrical signal output by the circuit control module 10 is 2MHz, the first lead zirconate titanate piezoelectric ceramic sheet 12 reaches the resonant frequency, and the robot can be propulsed forward; when the frequency of the electrical signal output by the circuit control module 10 is 3MHz, the second lead zirconate titanate piezoelectric ceramic sheet 14 reaches the resonant frequency, and the robot can be propulsed to the left side; when the frequency of the electrical signal output by the circuit control module is 4MHz, the third lead zirconate titanate piezoelectric ceramic sheet 15 reaches the resonant frequency, and the robot can be propulsed to the right side; at the same time, the searchlight 4 can be turned on after receiving the electrical signal output by the circuit control module 10 to detect the surrounding environment; the robot's motion state and surrounding environment are transmitted to the signal processing module 8 through the camera 6, and transmitted to the external terminal via the communication module 9.

[0054] The sensors, controllers, control programs and connection methods of corresponding electronic control components that may be involved in the above description can be designed accordingly according to the existing technology, and the existing technology will not be described in detail here.

[0055] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A robot used in a fluid environment, characterized in that: include: A shell, on the outer wall of which a plurality of ultrasonic transducers are arranged, wherein the resonant frequencies of all the ultrasonic transducers are different or at least partially different; The controller is used to output an electrical signal of a specific frequency to the corresponding ultrasonic transducer, and the corresponding ultrasonic transducer is used to resonate in response to the electrical signal of the specific frequency to drive the housing to move in the fluid.

2. A robot for use in a fluid environment according to claim 1, characterized in that: Specifically, three ultrasonic transducers are provided, two of which are symmetrically arranged relative to two sides of the shell, and the remaining one is arranged at the tail of the shell.

3. A robot for use in a fluid environment according to claim 1, characterized in that: The shell comprises a head frame (1), a middle frame (2) and a tail frame (3) which are connected in sequence.

4. The robot for use in a fluid environment according to claim 1, characterized in that: A camera (6) is arranged on the housing, and the camera (6) is connected to the controller.

5. The robot for use in a fluid environment according to claim 4, characterized in that: The housing is provided with a searchlight (4) for illuminating the shooting area of ​​the camera (6); a power supply (7) is provided in the housing; the controller is connected to the power supply (7); and the searchlight (4) is connected to the controller.

6. The robot for use in a fluid environment according to claim 5, characterized in that: The housing is provided with a charging port (5) connected to the power source (7).

7. A robot for use in a fluid environment according to any one of claims 1 to 6, characterized in that: The controller comprises a communication module (9) and a circuit control module (10), wherein the communication module (9) is connected to a ground control terminal, the communication module (9) is connected to the circuit control module (10), and the circuit control module (10) is connected to all the ultrasonic transducers.

8. The robot for use in a fluid environment according to claim 7, characterized in that: The communication module (9) is connected to the circuit control module (10) via the signal processing module (8).

9. A robot for use in a fluid environment according to claim 1, 2, 3, 4, 5, 6 or 8, characterized in that: All of the ultrasonic transducers have the same structure, and include a piezoelectric ceramic sheet located in the middle and a backing (11) and a matching layer (13) on both sides thereof.

10. The robot for use in a fluid environment according to claim 9, characterized in that: The piezoelectric ceramic sheet is a lead zirconate titanate piezoelectric ceramic sheet, the backing (11) is an air backing, and the matching layer (13) is an alumina filler epoxy resin.

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