Underwater floating robot

Abstract

The invention provides an underwater floating robot. The underwater floating robot comprises a robot cabin, a front camera assembly, M linear driving modules and M cooling fans. The robot cabin body comprises a main cabin body and a front cabin body assembly. The front camera assembly is installed on the front side of the front cabin assembly and used for video observation of the front portion, the upper portion and the lower portion of the robot cabin. The cooling fan is installed on a sliding block of the linear driving module. And the M cooling fans are symmetrically distributed in the main cabin body. When the front camera assembly observes the upper portion or the lower portion, the linear driving module is used for driving the cooling fan to move front and back to adjust the gravity center of the underwater floating robot so as to guarantee that the underwater floating robot can reach the balance state. The position of the cooling fan is adjusted to ensure that the underwater floating robot reaches a balanced state, so that the problem that a front camera in an existing underwater robot is inconvenient to use due to the fact that the front camera is difficult to do pitching motion is solved.

Description

Technical Field

[0001] The present application belongs to the technical field of underwater robots, and specifically relates to an underwater floating robot. Background Art

[0002] As an important operation and maintenance tool, underwater robots have gradually replaced manual or automated medium and large-scale special underwater maintenance equipment in the nuclear power industry in recent years with their small size, flexibility, convenience and low cost. They are playing an increasingly important role in underwater video inspection / surveillance, sonar detection, ultrasonic inspection, foreign body salvage, underwater maintenance, etc. in non-primary water areas such as primary water tanks (such as pressure vessels, refueling water tanks, spent fuel water tanks), as well as desalination / firefighting / cooling / filtration water tanks, fore pools, open channels, etc.

[0003] At present, most underwater floating robots cannot enter narrow spaces in the underwater environment of the nuclear industry, such as pressure vessel injection pipelines, spent fuel storage racks, and lower reactor internals. The common method is to use manual long-pole tools to send underwater cameras to these areas for inspection. For pipelines far from the container mouth, there is currently no effective inspection equipment, which will cause blind spots and seriously affect the safe operation of the nuclear industry. There have been many unplanned shutdowns in China due to undiscovered foreign objects.

[0004] At present, many companies and research institutes at home and abroad have developed small underwater robots.

[0005] For example, in the prior art 1, the underwater robot proposed in the patent (application number: 201710107004.3, invention name: six-degree-of-freedom underwater robot) is as follows Figure 1 As shown. It adopts a 3-push propulsion system with a top-mounted camera. However, the overall size of this underwater robot is relatively large; the pan-tilt camera is on the top and can only observe the situation on the top, not the front and bottom; the vertical push in the 3-push propulsion system is placed at the tail, and the robot will have pitch changes during vertical movement, which is inconvenient to use.

[0006] In the prior art 2, the underwater robot proposed in the patent (International Patent Application No.: PCT / CN2020 / 080616, Invention Name: Underwater Robot, Underwater Robot Control Method and Device) is as follows Figure 2 As shown. It adopts a 6-push propulsion system with a front camera. However, the overall size of this underwater robot is larger; it only has a front camera and can only observe the situation in the front. If you need to observe up and down, the underwater robot needs to pitch as a whole, which is inconvenient to use. Summary of the invention

[0007] In view of this, an embodiment of the present application is dedicated to providing an underwater floating robot, which ensures that the underwater floating robot reaches a balanced state by adjusting the position of the cooling fan, so as to solve the problem of the inconvenience caused by the difficulty of pitching movement of the front camera in the existing underwater robot.

[0008] The present application provides an underwater floating robot, which includes a robot cabin, a front camera assembly, M linear drive modules and M cooling fans corresponding to the M linear drive modules one by one. M is an even number and M is greater than 1. The robot cabin includes a main cabin and a front cabin assembly. The front cabin assembly is installed at the front of the main cabin and is used to provide a driving force for the front camera assembly to change its position during observation. The front camera assembly is installed on the front side of the front cabin assembly and is used for video observation of the front, upper and lower parts of the robot cabin. The cooling fan is installed on a slider of the linear drive module. The M cooling fans are symmetrically distributed in the main cabin. When the front camera assembly observes the upper or lower part, the center of gravity of the underwater floating robot is adjusted by using the linear drive module to drive the cooling fan to move forward and backward to ensure that the underwater floating robot reaches a balanced state.

[0009] In a specific embodiment of the present application, the M cooling fans are divided into a first type of cooling fan and a second type of cooling fan respectively located on both sides of the central axis of the robot cabin. When working, the wind directions of the first type of cooling fan and the second type of cooling fan are opposite.

[0010] In a specific implementation of the present application, M=2.

[0011] In a specific embodiment of the present application, a accommodating cavity is provided on the front side of the front cabin assembly, and the front camera assembly is installed in the accommodating cavity.

[0012] In a specific embodiment of the present application, the front cabin assembly includes a front cabin, a pan-tilt output shaft, a threading sleeve, and a front cabin cover. The front cabin is the installation base of the front cabin assembly; the pan-tilt output shaft is the power output shaft of the front cabin assembly, which is powered by the motor and transmission system inside the pan-tilt output shaft and is located on the left side of the front cabin assembly. The threading sleeve is used to provide a cable channel for the front camera assembly. The front camera assembly is connected to the front cabin assembly through the pan-tilt output shaft and the threading sleeve.

[0013] In a specific embodiment of the present application, the front camera assembly includes a front camera housing, a lighting lamp, a front camera and a front camera cover. The front camera housing is the installation base of the entire front camera assembly. The lighting lamp is installed on the front side of the front camera housing to provide lighting for the front camera. The front camera is installed in the middle of the front side of the front camera housing for front observation of the robot. The front camera cover is installed on the rear side of the front camera housing to seal the front camera assembly.

[0014] In a specific embodiment of the present application, there are multiple lighting lamps, and the multiple lighting lamps are symmetrically installed on both sides of the front side of the front camera housing.

[0015] In a specific embodiment of the present application, the robot cabin also includes a rear cabin. The rear cabin is installed at the rear of the main cabin. The underwater floating robot also includes a propulsion system. The propulsion system includes 1 vertical thruster and 2 horizontal thrusters. 1 vertical thruster is located in the middle of the main cabin and is used to provide vertical force for the underwater floating robot. M cooling fans are symmetrically distributed on both sides of the vertical thruster. 2 horizontal thrusters are installed at the rear of the rear cabin to provide horizontal force for the underwater robot.

[0016] In a specific embodiment of the present application, the underwater floating robot further includes a rear camera. The rear camera is located at the rear end of the robot cabin and is used for observing the rear part of the robot cabin.

[0017] In a specific embodiment of the present application, the underwater floating robot also includes a main cable socket, an air valve and a connector. The main cable socket is installed at the lower rear part of the rear cabin body for connecting the main cable. The air valve is installed at the lower rear part of the rear cabin body for pumping air into the robot cabin. The connector is installed at the front part of the rear cabin body for connecting components in the cabin. The base of the linear drive module is installed on the connector.

[0018] In a specific embodiment of the present application, the underwater floating robot also includes multiple support columns, a main control board and multiple sensors. The main control board is installed on the left side of the connector through the multiple support columns. The main control board is used to control the underwater floating robot and collect information collected by multiple sensors. The main control board is connected to the main cable socket, the depth sensor, the motor of the front cabin assembly, the pan / tilt, the lighting and the front camera through cables. The main control board is connected to the host computer through the main cable socket and the umbilical cable.

[0019] In a specific embodiment of the present application, the multiple sensors include a depth sensor. The depth sensor is installed at a lower rear position of the rear cabin, and the depth sensor is used to monitor the depth of the underwater floating robot.

[0020] The beneficial effect of the technical solution of the present application is that: by setting a front camera assembly in the underwater floating robot, the front camera assembly is used to observe the front, upper and lower parts of the robot cabin. Compared with the prior art 1, since the front camera assembly is installed in the front, the front, upper and lower parts of the underwater floating robot can be observed by video, and the observation range is larger. Compared with the prior art 2, the front camera assembly can observe the upper and lower parts of the robot in addition to the front. In addition, since the front camera assembly will cause the center of gravity and buoyancy of the underwater floating robot to change when observing the upper or lower part, thereby affecting the underwater posture of the underwater floating robot, based on this, by setting an even number of linear drive modules and corresponding cooling fans, since the cooling fan is heavy, the cooling fan can be used to fine-tune the center of gravity of the underwater floating robot when it moves. By using the linear drive module to drive the cooling fan to move forward and backward, the center of gravity of the underwater floating robot is automatically adjusted, ensuring that the underwater floating robot reaches a balanced state, and solving the balance problem of the underwater floating robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Shown is a schematic structural diagram of an underwater robot.

[0022] Figure 2 Shown is a schematic structural diagram of another underwater robot.

[0023] Figure 3 Shown is a schematic structural diagram of an underwater floating robot provided in one embodiment of the present application.

[0024] Figure 4 Shown Figure 3 Another structural schematic diagram of an underwater floating robot is shown.

[0025] Figure 5 Shown Figure 3 A schematic diagram of the internal structure of an underwater floating robot is shown.

[0026] Figure 6 Shown is a schematic structural diagram of a front cabin assembly in an underwater floating robot provided in one embodiment of the present application.

[0027] Figure 7 Shown is a schematic structural diagram of a front camera assembly in an underwater floating robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] At least one embodiment of the present application provides an underwater floating robot, referring to Figures 3 to 5 , the underwater floating robot includes a robot cabin, a front camera assembly 5, M linear drive modules 12 and M cooling fans 13 corresponding to the M linear drive modules 12. M is an even number and M is greater than 1. The robot cabin includes a main cabin 1 and a front cabin assembly 6. The front cabin assembly 6 is installed at the front of the main cabin 1 and is used to provide a driving force for the front camera assembly 5 to change its position during observation. The front camera assembly 5 is installed on the front side of the front cabin assembly 6 and is used for video observation of the front, upper and lower parts of the robot cabin. The cooling fan 13 is installed on the slider of the linear drive module 12. The M cooling fans 13 are symmetrically distributed in the main cabin 1. When the front camera assembly 5 observes the upper or lower part, the center of gravity of the underwater floating robot is adjusted by using the linear drive module 12 to drive the cooling fan 13 to move forward and backward to ensure that the underwater floating robot reaches a balanced state.

[0030] It should be noted that the front camera assembly 5 observes the upper part or the lower part of the robot cabin, that is, the front camera assembly 5 performs a pitching motion. The underwater floating robot can be a micro underwater floating robot.

[0031] According to the technical solution provided by the embodiment of the present application, by setting a front camera assembly 5 in the underwater floating robot, the front camera assembly 5 is used to observe the front, upper and lower parts of the robot cabin. Compared with the prior art 1, since the front camera assembly 5 is installed in the front, the front, upper and lower parts of the underwater floating robot can be observed by video, and the observation range is larger. Compared with the prior art 2, the front camera assembly 5 can observe the upper and lower parts in addition to the front part of the robot. In addition, since the front camera assembly 5 will cause the center of gravity and buoyancy of the underwater floating robot to change when observing the upper or lower part, thereby affecting the underwater posture of the underwater floating robot, based on this, by setting an even number of linear drive modules 12 and corresponding cooling fans 13, since the cooling fan 13 is heavier, the cooling fan 13 can be used to fine-tune the center of gravity of the underwater floating robot when it moves. By using the linear drive module 12 to drive the cooling fan 13 to move forward and backward, the center of gravity of the underwater floating robot is automatically adjusted, ensuring that the underwater floating robot reaches a balanced state, and solving the balance problem of the underwater floating robot.

[0032] In at least one embodiment of the present application, the M cooling fans 13 are divided into a first type of cooling fan and a second type of cooling fan, which are respectively located on both sides of the central axis of the robot cabin. When working, the wind directions of the first type of cooling fan and the second type of cooling fan are opposite. In this way, when working, the wind directions of the first type of cooling fan and the second type of cooling fan are opposite, so that the hollow circulation in the entire robot cabin can be started, and the heat of individual local heating components can be dissipated to the outer shell of the robot cabin, and then cooled by water outside the robot cabin.

[0033] M can be 2, 4, 8, or even more, and the embodiments of the present application do not specifically limit this. For example, in at least one embodiment of the present application, M=2. In this way, by setting two cooling fans 13 symmetrically distributed in the middle of the robot cabin, the center of gravity is adjusted with the least number of cooling fans 13, the balance problem of the underwater robot is solved, and it is also conducive to the miniaturization of the underwater floating robot.

[0034] The front camera assembly 5 can be any assembly that can be used to observe the front, top, and bottom of the robot cabin, and this embodiment of the present application does not specifically limit this.

[0035] In at least one embodiment of the present application, a receiving cavity is provided on the front side of the front cabin assembly 6, and the front camera assembly 5 is installed in the receiving cavity. In this way, on the one hand, the front cabin assembly 6 can be used to block part of the water flow to ensure the stability of the front camera assembly 5 during observation, and on the other hand, the front camera assembly 5 can be installed in the receiving cavity of the front cabin assembly 6, so that the front camera assembly 5 is embedded in the front cabin assembly 6, which is conducive to improving the integration of the underwater floating robot and also conducive to the miniaturization of the underwater floating robot.

[0036] In at least one embodiment of the present application, reference Figure 6 The front cabin assembly 6 includes a front cabin 16, a pan-tilt output shaft 17, a threading sleeve 18 and a front cabin cover 19. The front cabin 16 is the installation base of the front cabin assembly 6; the pan-tilt output shaft 17 is the power output shaft of the front cabin assembly 6, which is powered by the motor and transmission system inside the pan-tilt output shaft 17 and is located on the left side of the front cabin assembly 6. The threading sleeve 18 is used to provide a cable channel for the front camera assembly 5. The front camera assembly 5 is connected to the front cabin assembly 6 through the pan-tilt output shaft 17 and the threading sleeve 18.

[0037] In some embodiments, there are two front camera boxes 20 for sealing the front cabin assembly 6 .

[0038] In at least one embodiment of the present application, reference Figure 7The front camera assembly 5 includes a front camera housing 20, an illuminator 21, a front camera 22 and a front camera cover plate 23. The front camera housing 20 is the installation base of the entire front camera assembly 5. The illuminator 21 is installed on the front side of the front camera housing 20 to provide lighting for the front camera 22. The front camera 22 is installed in the middle position of the front side of the front camera housing 20 for front observation of the robot. The front camera cover plate 23 is installed on the rear side of the front camera housing 20 for sealing the front camera assembly 5.

[0039] The number of the lighting lamps 21 may be one or more. In at least one embodiment of the present application, there are multiple lighting lamps 21, and the multiple lighting lamps 21 are symmetrically installed on both sides of the front side of the front camera housing 20. In this way, by arranging multiple lighting lamps 21 symmetrically installed on both sides of the front side of the front camera housing 20, the video image taken by the front camera 22 can be made clearer.

[0040] In at least one embodiment of the present application, the robot cabin also includes a rear cabin 3. The rear cabin 3 is installed at the rear of the main cabin 1. The underwater floating robot also includes a propulsion system. The propulsion system includes a vertical propeller 2 and two horizontal propellers 4. One vertical propeller 2 is located in the middle of the main cabin 1, and is used to provide vertical force for the underwater floating robot. M cooling fans 13 are symmetrically distributed on both sides of the vertical propeller 2. Two horizontal propellers 4 are installed at the rear of the rear cabin 3 to provide horizontal force for the underwater robot. In this way, by setting the vertical propeller 2 in the middle of the robot cabin, relative to the comparative document 1, it will not cause excessive changes in the posture of the underwater floating robot during operation. In addition, by using a 3-push propulsion system, the least propeller is used, which solves underwater snorkeling, forward and backward turn motion, and meets the needs of underwater operations. Compared with the prior art 1 and the prior art 2, there are only two horizontal propellers, which are closely arranged at the rear, and the lateral size can be reduced. In addition, a vertical thruster 2 is provided to provide a vertical force for the underwater floating robot, so that the underwater floating robot can move underwater. Two horizontal thrusters 4 are provided to provide a horizontal force for the underwater robot, so that the underwater floating robot can move forward and backward and turn its bow underwater.

[0041] It should be noted that the main cabin 1 is located in the middle of the entire robot cabin, that is, the main cabin is connected between the rear cabin 3 and the front cabin assembly 6 .

[0042] During implementation, the vertical thruster 2 is used for the underwater floating robot's diving and floating movements, and the two horizontal thrusters 4 are used for the underwater floating robot's horizontal forward and backward movements and bow turning movements. The three thrusters cooperate to complete the robot's flexible underwater movements.

[0043] In at least one embodiment of the present application, the underwater floating robot further includes a rear camera 7. The rear camera 7 is located at the rear end of the robot cabin and is used for observing the rear of the robot cabin.

[0044] For example, the rear camera 7 is installed at the rear of the rear cabin body 3 for observing the rear of the rear cabin body 3 .

[0045] In at least one embodiment of the present application, reference Figure 4 and Figure 5 The underwater floating robot also includes a main cable socket 8, a valve 10 and a connector 11. The main cable socket 8 is installed at the lower rear part of the rear cabin 3 for connecting the main cable. The valve 10 is installed at the lower rear part of the rear cabin 3 for pumping air into the robot cabin. The connector 11 is installed at the front of the rear cabin 3 for connecting components in the cabin. The base of the linear drive module 12 is installed on the connector 11.

[0046] In at least one embodiment of the present application, reference Figure 5 , the underwater floating robot also includes multiple support columns 14, a main control board 15 and a variety of sensors. The main control board 15 is installed on the left side of the connector 11 through the multiple support columns 14. The main control board 15 is used to control the underwater floating robot and collect information collected by a variety of sensors. The main control board 15 is connected to the main cable socket 8, the depth sensor 9, the motor, the pan-tilt, the illuminator 21 and the front camera 22 of the front cabin assembly 6 through cables. The main control board 15 is connected to the host computer through the main cable socket 8 and the umbilical cable. In this way, by integrating multiple support columns 14, the main control board 15 and a variety of sensors, the main control board can be used to timely feedback various information of the underwater floating robot, and the main control board is used to control the pan-tilt, the illuminator 21 and the front camera 22, so as to realize real-time data collection.

[0047] The number of support columns 14 may be set according to actual needs. For example, in some embodiments, the number of support columns 14 may be four.

[0048] The information collected by the various sensors includes, but is not limited to, temperature, pressure, attitude and other information. The various sensors can be set according to actual needs. For example, in some embodiments, the various sensors include a depth sensor 9. The depth sensor 9 is installed at the lower rear portion of the rear cabin 3. The depth sensor 9 is used to monitor the depth of the underwater floating robot. In this way, the main control board 15 can receive the depth information of the depth sensor 9 in a timely manner. For another example, the various sensors can also include a temperature sensor and a pressure sensor.

[0049] In all the above embodiments, the main cable socket 8, the valve 10, the connector 11, M linear drive modules 12, M cooling fans 13, multiple support columns 14, the main control board 15 and various sensors are integrated into the robot cabin, adopting an integrated cabin structure, which can be used as a seal for components in the cabin, provide underwater buoyancy, and reduce the resistance of underwater movement.

[0050] It should be noted that the combination of the various technical features in the embodiments of the present application is not limited to the combination described in the embodiments of the present application or the combination described in the specific embodiments, and all technical features described in the present application can be freely combined or combined in any way unless there is a contradiction between them.

[0051] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the term "comprising" only indicates that the steps and elements that have been clearly identified are included, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0052] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0053] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater floating robot, characterized in that: It includes a robot cabin, a front camera assembly, M linear drive modules, and M cooling fans corresponding to the M linear drive modules one by one. Wherein, M is an even number and M is greater than 1; the robot cabin includes a main cabin and a front cabin assembly; The front cabin assembly is installed at the front of the main cabin and is used to provide a driving force for the front camera assembly to change its position during observation; the front camera assembly is installed at the front side of the front cabin assembly and is used for video observation of the front, upper and lower parts of the robot cabin; the cooling fan is installed on the slider of the linear drive module, and M cooling fans are symmetrically distributed in the main cabin; When the front camera assembly observes the upper or lower part, the center of gravity of the underwater floating robot is adjusted by using the linear drive module to drive the cooling fan to move forward and backward to ensure that the underwater floating robot reaches a balanced state.

2. The underwater floating robot according to claim 1, characterized in that: The M cooling fans are divided into first-type cooling fans and second-type cooling fans located on both sides of the central axis of the robot cabin. When working, the wind directions of the first type cooling fan and the second type cooling fan are opposite.

3. The underwater floating robot according to claim 1, characterized in that: A accommodating cavity is provided on the front side of the front cabin body assembly, and the front camera assembly is installed in the accommodating cavity.

4. The underwater floating robot according to claim 1, characterized in that: The front cabin assembly includes the front cabin, the gimbal output shaft, the threading sleeve and the front cabin cover. Among them, the front cabin body is the installation base of the front cabin body assembly; the gimbal output shaft is the power output shaft of the front cabin body assembly, which is powered by the motor and transmission system inside the gimbal output shaft, and is located on the left side of the front cabin body assembly; the threading sleeve is used to provide a cable channel for the front camera assembly; the front camera assembly is connected to the front cabin body assembly through the gimbal output shaft and the threading sleeve.

5. The underwater floating robot according to claim 1, characterized in that: The front camera assembly includes a front camera housing, a lighting lamp, a front camera and a front camera cover. Among them, the front camera box is the installation base of the entire front camera assembly; the lighting lamp is installed on the front side of the front camera box to provide lighting for the front camera; the front camera is installed in the middle position of the front side of the front camera box for front observation of the robot; the front camera cover is installed on the rear side of the front camera box for sealing the front camera assembly.

6. The underwater floating robot according to claim 5, characterized in that: There are multiple lighting lamps, which are symmetrically installed on both sides of the front side of the front camera box.

7. The underwater floating robot according to any one of claims 1 to 6, characterized in that: The robot cabin also includes a rear cabin, which is installed at the rear of the main cabin; the underwater floating robot also includes a propulsion system, which includes 1 vertical thruster and 2 horizontal thrusters; Among them, one vertical thruster is located in the middle of the main cabin, which is used to provide vertical force for the underwater floating robot; M cooling fans are symmetrically distributed on both sides of the vertical thruster; two horizontal thrusters are installed at the rear of the rear cabin to provide horizontal force for the underwater robot.

8. The underwater floating robot according to any one of claims 1 to 6, characterized in that: Also includes the rear camera, Among them, the rear camera is located at the rear end of the robot cabin and is used for observing the rear of the robot cabin.

9. The underwater floating robot according to claim 7, characterized in that: It also includes main cable socket, valve and connector. The main cable socket is installed at the lower rear part of the rear cabin body for connecting the main cable; the air valve is installed at the lower rear part of the rear cabin body for pumping air into the robot cabin; the connector is installed at the front part of the rear cabin body for connecting components in the cabin; the base of the linear drive module is installed on the connector.

10. The underwater floating robot according to claim 9, characterized in that: It also includes multiple support columns, main control panels and various sensors. Among them, the main control board is installed on the left side of the connector through multiple support columns; the main control board is used to control the underwater floating robot and collect information collected by various sensors; the main control board is connected to the main cable socket, depth sensor, motor, gimbal, lighting and front camera of the front cabin assembly through cables; the main control board is connected to the host computer through the main cable socket and the umbilical cable.

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