Teleoperation underwater robot based on multi-modal sensing

Abstract

The teleoperation underwater robot comprises a robot body, one side wall of the robot body is provided with a positioning groove, and the two sides of the positioning groove are each provided with a multi-beam sonar and a camera. And a first mounting plate located above the positioning groove is fixedly mounted on one side wall of the robot body, a second mounting plate is fixedly mounted at the bottom of the first mounting plate, a third mounting plate is fixedly mounted at the bottom of the second mounting plate, and a mounting block is arranged on one side of the robot body. According to the multi-mode sensing aquatic plant robot, multi-mode sensing can be conducted on the surrounding environment of the robot body, meanwhile, a cutting blade can rotate to cut aquatic plants, winding is avoided, the two moving blocks can be close to or away from each other by starting a driving motor, and therefore limiting of the mounting blocks and releasing of limiting can be achieved; and the anti-winding mechanism is easy to disassemble and maintain.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and particularly relates to a remotely operated underwater robot based on multi-modal perception. Background Art

[0002] As a key equipment in the fields of ocean engineering and scientific research, remotely operated underwater robots achieve remote intervention and precise execution of complex underwater tasks by human operators through a real-time communication link between the surface control terminal and the underwater operation terminal. The core technology breaks through the limitations of traditional autonomous underwater robots with high algorithm dependence and insufficient emergency response capabilities, and demonstrates irreplaceable advantages in scenarios such as deep-sea resource exploration, underwater facility maintenance, ecological monitoring, and emergency rescue.

[0003] When existing underwater robots are in use, it is difficult to cope with environmental perception under turbid water bodies, low visibility, or interference from dynamic obstacles, resulting in low task execution efficiency or even failure. Moreover, waterweeds are common aquatic plants in river channels, with long and soft stems and leaves. When the underwater robot is operating, the waterweeds may wrap around the surface of the underwater robot, causing the underwater robot to be unable to move due to entanglement and affecting normal operation, making it inconvenient to use. Summary of the Invention

[0004] The purpose of the present invention is to solve the deficiencies existing in the prior art, and to propose a remotely operated underwater robot based on multi-modal perception.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A remotely operated underwater robot based on multi-modal perception, including a robot body. A positioning groove is formed on one side wall of the robot body. Multi-beam sonars and cameras are arranged on both sides of the positioning groove. A first mounting plate is fixedly installed on one side wall of the robot body above the positioning groove. A second mounting plate is fixedly installed at the bottom of the first mounting plate. A third mounting plate is fixedly installed at the bottom of the second mounting plate. An installation block is arranged on one side of the robot body. An anti-entanglement mechanism is arranged on the installation block. A clamping mechanism is arranged on the robot body.

[0007] Preferably, the anti-entanglement mechanism includes a cutting shaft rotatably connected to the outer wall of one end of the installation block. Cutting blades are fixedly installed on the outer wall of the cutting shaft. A cavity is arranged inside the installation block. A cutting motor is fixedly installed on the inner wall of one end of the cavity. One end of the cutting shaft is fixedly connected to the output shaft of the cutting motor. Card slots are formed on both outer walls of the installation block.

[0008] Preferably, the clamping mechanism includes a rotating shaft rotatably connected between the second mounting plate and the outer wall of one side of the robot body. A round block is fixedly mounted on the outer wall of the rotating shaft. Two sliding grooves are formed in the round block. Sliding rods slidably connected to the inner walls thereof are arranged in both of the two sliding grooves. One ends of the two sliding rods are fixedly mounted with moving blocks. One ends of two telescopic rods are fixedly mounted on the sides of the two moving blocks away from each other. The fixed ends of the two telescopic rods located on the same moving block are fixedly connected to the same fixing plate. Both fixing plates are fixedly connected to the robot body. Clamping rods are fixedly mounted on the sides of the two moving blocks close to each other.

[0009] Preferably, a worm is rotatably connected between the first mounting plate and the third mounting plate. A worm gear is fixedly mounted on the outer wall of the rotating shaft. The worm gear is meshed with the worm. A driving motor is fixedly mounted on the top of the first mounting plate. One end of the worm penetrates through the first mounting plate and is fixedly connected to the output shaft of the driving motor.

[0010] Preferably, the positioning groove is square, and the mounting block is adapted to the positioning groove.

[0011] Preferably, both of the two sliding grooves are arc-shaped, and both of the two moving blocks are in an "L" shape.

[0012] Preferably, the clamping rod is adapted to the clamping groove.

[0013] Preferably, a protective cover is arranged outside the driving motor, and the protective cover is fixedly mounted on the top of the first mounting plate.

[0014] Advantages of the present invention:

[0015] By providing the anti-winding mechanism, the camera and the multi-beam sonar, the surrounding environment of the robot body can be perceived in a multi-modal manner, and at the same time, the cutting blade can be rotated to cut the waterweeds to avoid entanglement.

[0016] By providing the clamping mechanism, the two moving blocks can be moved closer to or away from each other by starting the driving motor, so that the limit of the mounting block and the release of the limit can be realized, making it easy to disassemble the anti-winding mechanism and easy to maintain it. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic plan view of a remotely operated underwater robot based on multi-modal perception proposed by the present invention;

[0018] Figure 2 is a schematic three-dimensional view of one side of a remotely operated underwater robot based on multi-modal perception proposed by the present invention;

[0019] Figure 3Schematic plan view of the mating plane structure of the mounting block and the positioning groove of the present invention;

[0020] Figure 4 Schematic three-dimensional structure diagram of the anti-winding mechanism and the clamping mechanism of the present invention;

[0021] Figure 5 Schematic plan view of the mating plane structure of the clamping rod and the clamping groove of the present invention;

[0022] Figure 6 Schematic plan view of the interior of the cover body of the present invention.

[0023] In the figure: 1 robot body, 2 multi-beam sonar, 3 camera, 4 cutting blade, 5 cutting shaft, 6 mounting block, 7 telescopic rod, 8 moving block, 9 fixing plate, 10 protective cover, 11 first mounting plate, 12 second mounting plate, 13 third mounting plate, 14 round block, 15 positioning groove, 16 cavity, 17 cutting motor, 18 sliding groove, 19 sliding rod, 20 rotating shaft, 21 worm gear, 22 worm, 23 clamping rod, 24 clamping groove, 25 driving motor. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0025] Refer to Figures 1-6, A teleoperated underwater robot based on multi-modal perception, comprising a robot body 1. A positioning groove 15 is formed on one side wall of the robot body 1. On both sides of the positioning groove 15, multi-beam sonars 2 and cameras 3 are provided. The multi-beam sonar 2 realizes three-dimensional terrain modeling by emitting a fan-shaped acoustic wave array. The camera 3 adopts a low-light wide-angle lens and an LED fill light, and the two form a visual and acoustic fusion perception system for complementary identification of obstacles and targets in turbid water. On one side wall of the robot body 1, a first mounting plate 11 is fixedly installed above the positioning groove 15. The bottom of the first mounting plate 11 is fixedly installed with a second mounting plate 12, and the bottom of the second mounting plate 12 is fixedly installed with a third mounting plate 13. On one side of the robot body 1, there is a mounting block 6. An anti-winding mechanism is provided on the mounting block 6. The anti-winding mechanism includes a cutting shaft 5 rotatably connected to the outer wall of one end of the mounting block 6. Cutting blades 4 are fixedly installed on the outer wall of the cutting shaft 5. A cavity 16 is provided inside the mounting block 6. A cutting motor 17 is fixedly installed on the inner wall of one end of the cavity 16. The cavity 16 provides an installation space for the cutting motor 17 and plays a certain protective role for the cutting motor 17, preventing the cutting motor 17 from being eroded and collided by the underwater environment and extending its service life. One end of the cutting shaft 5 is fixedly connected to the output shaft of the cutting motor 17. Card slots 24 are formed on the outer walls of both sides of the mounting block 6. The card slots 24 cooperate with the card rods 23 to provide a reliable connection point for the fixation of the mounting block 6, enabling the mounting block 6 to be firmly installed on the robot body 1, preventing the mounting block 6 from loosening or falling off during underwater operation and ensuring the stable operation of the anti-winding mechanism. The positioning groove 15 is square. The positioning groove 15 serves as a quick docking interface for the anti-winding module. Its square structure provides axial and radial limits for the mounting block 6 through the vertical side walls. The mounting block 6 is adapted to the positioning groove 15. When the mounting block 6 is inserted into the square positioning groove 15 until it abuts against the inner wall of the positioning groove 15, the card rod 23 is aligned with the card slot 24. When there are many waterweeds and entanglement is likely to occur, the cutting motor 17 can be started to rotate the cutting shaft 5 and the cutting blades 4 to cut the waterweeds outside the robot body 1 to avoid entanglement;

[0026] A clamping mechanism is provided on the robot body 1. The clamping mechanism includes a rotating shaft 20 rotatably connected between the second mounting plate 12 and the outer wall of one side of the robot body 1. A round block 14 is fixedly installed on the outer wall of the rotating shaft 20. Two sliding grooves 18 are formed in the round block 14. Sliding rods 19 slidably connected to their inner walls are arranged in both of the two sliding grooves 18. One ends of the two sliding rods 19 are fixedly installed with moving blocks 8. The telescopic ends of two telescopic rods 7 are fixedly installed on the sides of the two moving blocks 8 away from each other. The fixed ends of the two telescopic rods 7 located on the same moving block 8 are fixedly connected to the same fixing plate 9. Both fixing plates 9 are fixedly connected to the robot body 1. Clamping rods 23 are fixedly installed on the side walls of the two moving blocks 8 close to each other. A worm 22 is rotatably connected between the first mounting plate 11 and the third mounting plate 13. A worm gear 21 is fixedly installed on the outer wall of the rotating shaft 20. The worm gear 21 is meshed with the worm 22. The worm 22, as a power transmission component, can transmit the power output by the driving motor 25 to the worm gear 21, and realize the rotational movement of the rotating shaft 20 through the transmission mechanism. The transmission of the worm gear 21 and the worm 22 has a self-locking function, which can prevent the rotating shaft 20 from rotating automatically without external force, ensuring the stability and reliability of the clamping mechanism. A driving motor 25 is fixedly installed on the top of the first mounting plate 11. By starting the driving motor 25, the worm 22 can be rotated. Through the meshing connection between the worm 22 and the worm gear 21, the worm gear 21 and the rotating shaft 20 can be rotated. The rotation of the rotating shaft 20 drives the round block 14 to rotate. When the round block 14 rotates, through the guiding of the telescopic rods 7, the sliding rods 19 can slide in the arc-shaped sliding grooves 18, and then the two moving blocks 8 can move closer to each other. One end of the worm 22 penetrates through the first mounting plate 11 and is fixedly connected to the output shaft of the driving motor 25. Both of the two sliding grooves 18 are arc-shaped. Both of the two moving blocks 8 are in an "L" shape. The clamping rod 23 is adapted to the clamping groove 24. A protective cover 10 is arranged outside the driving motor 25. The protective cover 10 is fixedly installed on the top of the first mounting plate 11. The protective cover 10 can effectively protect the driving motor 25 from being eroded by the underwater environment, such as preventing seawater, water pressure, and impurities in the water from damaging the driving motor 25, extending the service life of the driving motor 25, and at the same time, it can also avoid damage to the driving motor 25 caused by accidental collision, ensuring the stable and reliable operation of the driving motor 25.

[0027] When the present invention is in use, the mounting block 6 is inserted into the square positioning groove 15 until it abuts against the inner wall of the positioning groove 15. At this time, the clamping rod 23 is aligned with the clamping groove 24. By starting the driving motor 25, the worm 22 can be rotated. Through the meshing connection between the worm 22 and the worm wheel 21, the worm wheel 21 and the rotating shaft 20 can be rotated. The rotation of the rotating shaft 20 drives the round block 14 to rotate. When the round block 14 rotates, through the guidance of the telescopic rod 7, the sliding rod 19 can slide in the arc-shaped sliding groove 18, and then the two moving blocks 8 can approach each other. In this way, the clamping rod 23 can be inserted into the clamping groove 24, so as to realize the limitation of the mounting block 6. On the contrary, the mounting block 6 can be separated from the positioning groove 15 by operating in the reverse way, realizing the disassembly of the anti-winding mechanism, which is easy to maintain and convenient to use. By setting the camera 3 and the multi-beam sonar 2, the surrounding environment of the robot body 1 can be multi-modal sensed (how to sense is the prior art and will not be elaborated). When there are many waterweeds and entanglement is likely to occur, the cutting motor 17 can be started to rotate the cutting shaft 5 and the cutting blade 4 to cut the waterweeds outside the robot body 1 to avoid entanglement.

[0028] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, should be covered by the protection scope of the present invention.

Claims

1. A teleoperated underwater robot based on multi-modal perception, comprising a robot body (1), characterized in that, A positioning groove (15) is formed on one side wall of the robot body (1). Multi-beam sonars (2) and cameras (3) are arranged on both sides of the positioning groove (15). A first mounting plate (11) is fixedly installed on one side wall of the robot body (1) above the positioning groove (15). A second mounting plate (12) is fixedly installed at the bottom of the first mounting plate (11). A third mounting plate (13) is fixedly installed at the bottom of the second mounting plate (12). An installation block (6) is arranged on one side of the robot body (1). An anti-winding mechanism is arranged on the installation block (6). A clamping mechanism is arranged on the robot body (1).

2. The remotely operated underwater vehicle based on multimodal perception according to claim 1, wherein The anti-winding mechanism includes a cutting shaft (5) rotatably connected to the outer wall of one end of the installation block (6). Cutting blades (4) are fixedly installed on the outer wall of the cutting shaft (5). A cavity (16) is arranged inside the installation block (6). A cutting motor (17) is fixedly installed on the inner wall of one end of the cavity (16). One end of the cutting shaft (5) is fixedly connected to the output shaft of the cutting motor (17). Card slots (24) are formed on both outer walls of the installation block (6).

3. The remotely operated underwater vehicle based on multimodal perception according to claim 2, characterized in that, The clamping mechanism includes a rotating shaft (20) rotatably connected between the second mounting plate (12) and the outer wall of one side of the robot body (1). A round block (14) is fixedly installed on the outer wall of the rotating shaft (20). Two sliding grooves (18) are formed in the round block (14). Sliding rods (19) slidably connected to the inner walls thereof are arranged in the two sliding grooves (18). One ends of the two sliding rods (19) are fixedly installed with moving blocks (8). The telescopic ends of two telescopic rods (7) are fixedly installed on the sides of the two moving blocks (8) away from each other. The fixed ends of the two telescopic rods (7) located on the same moving block (8) are fixedly connected to the same fixing plate (9). The two fixing plates (9) are both fixedly connected to the robot body (1). Clamping rods (23) are fixedly installed on the side walls of the two moving blocks (8) close to each other.

4. The remotely operated underwater vehicle based on multimodal perception according to claim 3, characterized in that, A worm (22) is rotatably connected between the first mounting plate (11) and the third mounting plate (13). A worm gear (21) is fixedly installed on the outer wall of the rotating shaft (20). The worm gear (21) is meshed with the worm (22). A driving motor (25) is fixedly installed on the top of the first mounting plate (11). One end of the worm (22) penetrates through the first mounting plate (11) and is fixedly connected to the output shaft of the driving motor (25).

5. A teleoperated underwater robot based on multimodal perception according to claim 1, characterized in that, The positioning groove (15) is square, and the installation block (6) is adapted to the positioning groove (15).

6. The teleoperated underwater robot based on multimodal perception according to claim 3, characterized in that, Both of the two sliding grooves (18) are arc-shaped, and both of the two moving blocks (8) are "L"-shaped.

7. A teleoperated underwater robot based on multi-modal perception according to claim 3, wherein The clamping rod (23) is adapted to the card slot (24).

8. A teleoperated underwater robot based on multi-modal perception according to claim 4, characterized in that, A protective cover (10) is arranged outside the driving motor (25), and the protective cover (10) is fixedly installed on the top of the first mounting plate (11).

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