Underwater robot based on autonomous navigation and use method thereof

Abstract

The invention relates to an underwater robot based on autonomous navigation and a use method thereof, and belongs to the technical field of underwater robots. According to the autonomous navigation-based underwater robot and the use method thereof, the autonomous navigation-based underwater robot comprises a robot shell, a control end head is fixedly connected to the end part of the robot shell, a plurality of through holes are formed in the surface of the control end head, and the plurality of through holes are annularly and uniformly distributed along the surface of the control end head; the noise reduction propelling mechanism is installed in the robot shell, and the surface of the noise reduction propelling mechanism extends to the outer side of the robot shell; according to the device, the end, close to the robot shell, of the arranged propelling assembly continuously moves up and down in a reciprocating mode, a good forward moving effect can be formed in cooperation with the fluid assembly, obvious noise generated when propelling equipment works is avoided, in the process that the robot collects marine organism data, the situation that marine organisms are disturbed is reduced, and the service life of the robot is prolonged. And the accuracy of marine organism data collection is ensured.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to an underwater robot based on autonomous navigation and its usage method. Background Technology

[0002] Due to the harsh marine environment and the continuous development of marine resources, underwater robots have become important tools for marine resource exploration, marine biological research, environmental observation, underwater target search and rescue, and other aspects of ocean development. As a type of machine capable of extreme underwater operations, underwater robots can replace humans in working in harsh environments.

[0003] A search of existing Chinese patent technology reveals that "An underwater robot for underwater detection" (publication number CN212099301U) is used underwater. This device is driven by multiple thrusters. However, in marine exploration and biological data collection, the underwater robot's propulsion equipment will generate significant noise during operation. This will affect underwater organisms, causing some marine organisms to be disturbed by noise during the robot's data collection process, thus reducing the accuracy of marine biological data collection. Summary of the Invention

[0004] Therefore, it is necessary to address the issue that some marine organisms may be disturbed by noise during the process of robotic collection of marine biological data, which reduces the accuracy of marine biological data collection, and to provide an underwater robot based on autonomous navigation and its usage method.

[0005] An autonomous navigation-based underwater robot includes: a robot shell, with a control end fixedly connected to one end of the robot shell, the control end having multiple through holes on its surface, the through holes being evenly distributed in a ring along the surface of the control end; and a noise-reducing propulsion mechanism installed inside the robot shell, the surface of the noise-reducing propulsion mechanism extending to the outside of the robot shell; wherein the noise-reducing propulsion mechanism includes a propulsion component installed inside the robot shell, a fluid component sleeved outside the propulsion component, the fluid component being installed on the surface of the robot shell, and a control component provided at the end of the propulsion component away from the control end, the control component being installed at the end of the robot shell away from the control end.

[0006] In one embodiment, the propulsion assembly includes a positioning frame fixedly connected to the inner wall of the robot housing. An electric push rod is fixedly connected to the inner wall of the positioning frame. A servo motor is fixedly connected to the side of the positioning frame away from the control end. A connecting buckle is fixedly connected to the telescopic end of the electric push rod. A rubber cup is fixedly connected to the surface of the connecting buckle. The rubber cup is fixedly connected to the inner wall of the robot housing.

[0007] In one embodiment, the output shaft of the servo motor is fixedly connected to a connecting frame, and a counterweight is fixedly connected to the inner wall of the connecting frame. The longitudinal cross-section of the counterweight is fan-shaped.

[0008] In one embodiment, a plurality of partitions are fixedly connected to the inner bottom wall of the connecting frame, and counterweight balls are provided on both sides of the partitions, with the counterweight balls contacting the inner wall of the connecting frame.

[0009] In one embodiment, the control component includes a soft rubber tail sleeve fixedly connected to the end of the robot shell. A connecting block is fixedly connected to the inner wall of the soft rubber tail sleeve away from the control end. A connecting shaft is fixedly connected to the surface of the propulsion component inside the soft rubber tail sleeve. A locking block is fixedly connected to one end of the connecting shaft. A sliding groove is opened inside the connecting block, and the locking block is slidably connected to the inner wall of the sliding groove.

[0010] In one embodiment, the horizontal cross-section of the soft rubber tail sleeve is conical, and multiple soft rubber wing plates are fixedly connected to the surface of the soft rubber tail sleeve.

[0011] In one embodiment, the inner wall of the soft rubber tail sleeve is fixedly connected with a plurality of hard rubber support strips, which are distributed alternately with the soft rubber wing plates.

[0012] In one embodiment, the fluid assembly includes a first conductive tube fixedly connected to the surface of the robot shell, a plurality of magnetic support strips fixedly connected to the outer wall of the first conductive tube, a second conductive tube sleeved on the outer side of the plurality of magnetic support strips, and two flow guide vanes fixedly connected to the surface of the second conductive tube, the two flow guide vanes being symmetrically distributed along the axis of the robot shell.

[0013] In one embodiment, a current-collecting sleeve is fixedly connected to the end of the second conductive tube away from the control end. The current-collecting sleeve has a tapered horizontal cross-section and is sleeved on the outside of the control component.

[0014] In one embodiment, the magnetic support strip has two internal grooves, the inner walls of the internal grooves are fixedly connected to powerful permanent magnets, and one end of the magnetic support strip is fixedly connected to an arc-shaped frame.

[0015] A method for using an underwater robot based on autonomous navigation:

[0016] A1. The device is placed in the ocean and drives the electric push rod to reciprocate and extend, thereby causing the overall center of gravity of the device to move back and forth. At this time, the robot continues to move back and forth in an upward and downward tilting state. With the help of the guide vane, the device can move forward under relatively quiet conditions.

[0017] A2. When the device needs to adjust the angle during navigation, the center of the device is shifted to one side by offsetting the counterweight. Furthermore, because multiple counterweight balls roll inside the connecting frame, the center of gravity shift is increased during the offset process, which enhances the flexibility of the device in adjusting the angle during navigation.

[0018] A3. The device uses a control component to drive the connecting block to deflect at an angle via a slide. The end of the soft rubber tail sleeve away from the control end twists synchronously, causing multiple soft rubber wing plates to form a similar spiral shape when the soft rubber tail sleeve twists. This helps to generate opposite forces between the external water flow and the center of gravity of the counterweight during the shift, ensuring the accuracy of the angle deflection.

[0019] The aforementioned autonomous navigation-based underwater robot uses a propulsion component that moves continuously up and down near the end of the robot's outer shell. Combined with the fluid component, this creates a good forward movement effect. This method avoids generating significant noise when the propulsion device is working, thus reducing interference with marine organisms during the robot's data collection process and ensuring the accuracy of the collected data.

[0020] When the control and propulsion components work together, this device adjusts angles during navigation by causing the counterweight to deflect to the side, shifting the center of gravity. The thrust from the guide vanes causes the robot's outer shell to rotate towards the side of the shifted center of gravity, and the thrust also shifts to one side, creating a centripetal force for turning during gliding. This reduces the impact of noise on marine biological data collection during robot navigation and adjustment in the ocean. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is a schematic diagram showing the position of the control component of the present invention;

[0024] Figure 3 This is an exploded structural diagram of the noise reduction propulsion mechanism of the present invention;

[0025] Figure 4 This is a schematic diagram of the internal structure of the robot shell of the present invention;

[0026] Figure 5This is a partial structural diagram of the propulsion component of the present invention;

[0027] Figure 6 This is a schematic diagram of the internal structure of the connecting frame of the present invention;

[0028] Figure 7 This is a cross-sectional view of the control component structure of the present invention;

[0029] Figure 8 This is a schematic diagram of the groove of the present invention;

[0030] Figure 9 This is a cross-sectional view of the fluid component structure of the present invention;

[0031] Figure 10 This is an exploded cross-sectional view of the magnetic support strip of the present invention.

[0032] Figure label:

[0033] 100. Robot shell; 200. Control end; 210. Through hole; 300. Noise-reducing propulsion mechanism; 310. Propulsion component; 311. Positioning frame; 312. Electric push rod; 313. Connecting buckle; 314. Rubber cup; 315. Servo motor; 316. Connecting frame; 317. Counterweight block; 318. Spacer; 319. Counterweight ball; 320. Control component; 321. Soft rubber tail sleeve; 322. Connecting block; 323. Connecting shaft; 324. Slide groove; 325. Locking block; 326. Soft rubber wing plate; 327. Hard rubber support strip; 330. Fluid component; 331. First conductive tube; 332. Second conductive tube; 333. Magnetic support strip; 334. Flow guide wing plate; 335. Converging sleeve; 3331. Internal groove; 3332. Arc frame; 3333. High-strength permanent magnet. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The following is combined Figures 1-10The autonomous navigation-based underwater robot of the present invention includes: a robot shell 100, a control end 200 fixedly connected to the end of the robot shell 100, and a plurality of through holes 210 formed on the surface of the control end 200, the plurality of through holes 210 being evenly distributed in a ring shape along the surface of the control end 200; a noise reduction propulsion mechanism 300, the noise reduction propulsion mechanism 300 being installed inside the robot shell 100, and the surface of the noise reduction propulsion mechanism 300 extending to the outside of the robot shell 100; wherein, the noise reduction propulsion mechanism 300 includes a propulsion component 310 installed inside the robot shell 100, a fluid component 330 sleeved on the outside of the propulsion component 310, the fluid component 330 being installed on the surface of the robot shell 100, and a control component 320 being provided at the end of the propulsion component 310 away from the control end 200, the control component 320 being installed at the end of the robot shell 100 away from the control end 200;

[0036] It should be noted that an internal compartment is located below the connecting frame 316, which can store batteries, controllers, and other equipment. When used in the ocean, this robot can drive the fluid component 330 for auxiliary thrust. Ocean water contains electrolytes such as salt, including sodium ions (Na). + Charged particles such as chloride ions (Cl-) can move directionally under the action of an electric field to form an electric current. This characteristic makes seawater a natural conductive fluid. The electrodes establish an electric field in the seawater with positive at the top and negative at the bottom, forming a vertical current. The strong magnetic fields on both sides are perpendicular to the direction of the current, forming a Lorentz force F = J × B, which is directed along the length of the channel. The Lorentz force propels the seawater to be ejected into the channel formed between the adjacent magnetic support bars 333, and its reaction force propels the robot to move.

[0037] like Figure 1-6 As shown, the propulsion assembly 310 includes a positioning frame 311 fixedly connected to the inner wall of the robot shell 100. An electric push rod 312 is fixedly connected to the inner wall of the positioning frame 311. A servo motor 315 is fixedly connected to the side of the positioning frame 311 away from the control end 200. A connecting buckle 313 is fixedly connected to the telescopic end of the electric push rod 312. A rubber cup 314 is fixedly connected to the surface of the connecting buckle 313. The rubber cup 314 is fixedly connected to the inner wall of the robot shell 100. A connecting frame 316 is fixedly connected to the output shaft of the servo motor 315. A counterweight 317 is fixedly connected to the inner wall of the connecting frame 316. The longitudinal section of the counterweight 317 is fan-shaped. A plurality of partitions 318 are fixedly connected to the inner bottom wall of the connecting frame 316. A counterweight ball 319 is provided on both sides of the partition 318. The counterweight ball 319 contacts the inner wall of the connecting frame 316.

[0038] When the device is in use, during the autonomous navigation and angle adjustment process, a control chamber is formed by the rubber cup 314 and the control end 200. When the electric push rod 312 retracts, it drives the rubber cup 314 to retract inward through the connecting buckle 313. At this time, external seawater is injected into the control chamber through the through hole 210. The control end 200 stores seawater, which increases the weight of the control end 200 and shifts the center of gravity forward. At this time, the horizontal height of the control end 200 is lower than the horizontal height of the control component 320, causing the device to tilt downward. With the help of the two guide vanes 334, the seawater generates a relative supporting force on the two guide vanes 334 during the downward movement of the device, which makes the whole device move forward.

[0039] When the device is about to touch the seabed, the telescopic end of the electric push rod 312 can be extended, and the rubber cup 314 can be extended into the control end 200 through the connecting buckle 313. At this time, the seawater inside the control end 200 is discharged to the outside through the through hole 210 and filled with gas. At this time, the weight of the control end 200 is relatively light, so that the horizontal height of the control end 200 is relatively higher than the horizontal height of the control component 320. At this time, the device tilts upward and gradually rises. While the two slides 324 tilt upward, the seawater is subjected to the dynamic pressure of the water flow from the front and top of the device on the upper inclined surface of the slides 324, forming a continuous driving force.

[0040] Simultaneously, the device drives the servo motor 315 to tilt and deflect the connecting frame 316, which in turn causes the counterweight 317 to deflect accordingly. The deflection of the counterweight 317 causes the lateral center of gravity of the device to shift during forward movement. As a result, the thrust of the guide vane 334 during gliding forward will cause the robot shell 100 to rotate towards the side of the shifted center of gravity, and the thrust will also be biased towards this side, forming the centripetal force for turning during gliding. This can reduce the impact of noise on the collection of marine biological data during the robot's forward movement and angle adjustment in the ocean.

[0041] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7 , Figure 8As shown, the control component 320 includes a soft rubber tail sleeve 321 fixedly connected to the end of the robot shell 100. A connecting block 322 is fixedly connected to the inner wall of the soft rubber tail sleeve 321 away from the control end 200. A connecting shaft 323 is fixedly connected to the surface of the propulsion component 310 inside the soft rubber tail sleeve 321. A locking block 325 is fixedly connected to one end of the connecting shaft 323. A sliding groove 324 is opened inside the connecting block 322. The locking block 325 is slidably connected to the inner wall of the sliding groove 324. The horizontal cross section of the soft rubber tail sleeve 321 is conical. Multiple soft rubber wing plates 326 are fixedly connected to the surface of the soft rubber tail sleeve 321. Multiple hard rubber support strips 327 are fixedly connected to the inner wall of the soft rubber tail sleeve 321. The hard rubber support strips 327 and the soft rubber wing plates 326 are distributed alternately.

[0042] When the device deflects via the connecting frame 316, the connecting shaft 323 drives the locking block 325 to deflect accordingly. At this time, the locking block 325 drives the connecting block 322 to deflect via the sliding groove 324. When the connecting block 322 deflects, the end of the soft rubber tail sleeve 321 away from the control end 200 twists synchronously. As the soft rubber tail sleeve 321 twists, it drives multiple soft rubber wing plates 326 to form a similar spiral shape. At this time, the end of the soft rubber wing plate 326 away from the control end 200 is in the same direction as the deflection of the counterweight 317, which prevents the counterweight 317 from overturning due to excessive deflection angle. This improves the accuracy of navigation and steering operations and can maintain good noise reduction.

[0043] like Figure 1 , Figure 2 , Figure 3 , Figure 9 , Figure 10 As shown, the fluid assembly 330 includes a first conductive tube 331 fixedly connected to the surface of the robot shell 100. A plurality of magnetic support strips 333 are fixedly connected to the outer wall of the first conductive tube 331. A second conductive tube 332 is sleeved on the outer side of the plurality of magnetic support strips 333. Two flow guide vanes 334 are fixedly connected to the surface of the second conductive tube 332. The two flow guide vanes 334 are symmetrically distributed along the axis of the robot shell 100. A current-gathering sleeve 335 is fixedly connected to the end of the second conductive tube 332 away from the control end 200. The current-gathering sleeve 335 has a tapered horizontal cross section and is sleeved on the outside of the control assembly 320. Two internal grooves 3331 are opened inside the magnetic support strips 333. A powerful permanent magnet 3333 is fixedly connected to the inner wall of the internal grooves 3331. An arc frame 3332 is fixedly connected to one end of the magnetic support strip 333.

[0044] The device uses the guide vane 334 to assist the propulsion component 310 in guiding the flow, so that the device does not generate much noise during the forward movement. In addition, the flow-gathering sleeve 335 allows the water flow to form a converged flow direction control component 320 between adjacent magnetic support bars 333, which helps to improve the flexibility of the device's turning operation.

[0045] The second conductive tube 332 and the first conductive tube 331 in the device can be connected to the positive and negative poles of the power supply, and a magnetic field perpendicular to the electric field is formed by the adjacent strong permanent magnets 3333. The seawater will flow along the length of the channel under the action of the Lorentz force, achieving a relatively quiet auxiliary propulsion effect.

[0046] A method for using an underwater robot based on autonomous navigation:

[0047] A1. When the device is placed in the ocean, the electric push rod 312 is driven to reciprocate and extend, thereby causing the overall center of gravity of the device to move back and forth. At this time, the robot continues to move back and forth in an upward and downward tilting state. With the help of the guide vane 334, the device can move forward under relatively quiet conditions.

[0048] A2. When the device needs to adjust the angle during navigation, the offset counterweight 317 causes the center of the device to shift to one side. Furthermore, due to the rolling of multiple counterweight balls 319 inside the connecting frame 316, the center of gravity shift is increased during the offset process, thus enhancing the flexibility of the device in adjusting the angle during navigation.

[0049] A3. The device uses the control component 320 to drive the connecting block 322 to deflect at an angle via the slide 324. The end of the soft rubber tail sleeve 321 away from the control end 200 twists synchronously, so that when the soft rubber tail sleeve 321 twists, it drives multiple soft rubber wing plates 326 to form a similar spiral shape. This can help the external water flow and the counterweight block 317 to form opposite forces during the center of gravity shift, ensuring the accuracy of the angle deflection.

[0050] Working principle: When the device is placed in the sea area, the electric push rod 312 retracts, which in turn drives the rubber cup 314 to retract inward through the connecting buckle 313. Seawater is injected into the control chamber through the through hole 210. Seawater is stored inside the control end 200, increasing the weight at the control end 200 and shifting the center of gravity forward. As the device moves downward, the seawater exerts a relative supporting force on the two guide vanes 334, causing the entire device to move forward. Extending the telescopic end of the electric push rod 312, the connecting buckle 313 drives the rubber cup 314 to extend into the control end 200. Seawater inside the control end 200 is discharged to the outside through the through hole 210. The entire device tilts upward and gradually rises. The seawater exerts a continuous pushing force on the upper inclined surface of the chute 324 due to the water flow pressure from above and in front of the device.

[0051] The guide vane 334 assists the propulsion component 310 in guiding the flow, without generating significant noise during forward movement. Furthermore, the water flow through the converging sleeve 335 forms a converged flow direction control component 320 between adjacent magnetic support bars 333, enhancing the device's turning flexibility. The drive servo motor 315 causes the connecting frame 316 to rotate, leading to the deflection of the counterweight 317. As the counterweight 317 deflects, the device's center of gravity shifts during forward movement. This causes the thrust of the guide vane 334 during gliding forward, causing the robot's outer shell 100 to rotate towards the side of the shifted center of gravity. The thrust also shifts to this side, creating a centripetal force for turning during gliding. When the connecting frame 316 deflects, the connecting shaft 323 drives the locking block 325 to deflect at the same angle. The locking block 325, through the sliding groove 324, drives the connecting block 322 to deflect at the same angle. When the soft rubber tail sleeve 321 twists, multiple soft rubber vanes 326 form a similar spiral shape.

[0052] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. An underwater robot based on autonomous navigation, characterized in that, include: A robot shell (100) is provided, and a control end (200) is fixedly connected to the end of the robot shell (100). The surface of the control end (200) is provided with a plurality of through holes (210), and the plurality of through holes (210) are evenly distributed in a ring shape along the surface of the control end (200). A noise-reducing propulsion mechanism (300) is installed inside the robot housing (100), and the surface of the noise-reducing propulsion mechanism (300) extends to the outside of the robot housing (100); The noise reduction propulsion mechanism (300) includes a propulsion component (310) installed inside the robot shell (100), a fluid component (330) sleeved on the outside of the propulsion component (310), the fluid component (330) being installed on the surface of the robot shell (100), and a control component (320) being provided at the end of the propulsion component (310) away from the control end (200), the control component (320) being installed at the end of the robot shell (100) away from the control end (200).

2. The underwater robot based on autonomous navigation according to claim 1, characterized in that, The propulsion assembly (310) includes a positioning frame (311) fixedly connected to the inner wall of the robot shell (100). An electric push rod (312) is fixedly connected to the inner wall of the positioning frame (311). A servo motor (315) is fixedly connected to the side of the positioning frame (311) away from the control end (200). A connecting buckle (313) is fixedly connected to the telescopic end of the electric push rod (312). A rubber cup (314) is fixedly connected to the surface of the connecting buckle (313). The rubber cup (314) is fixedly connected to the inner wall of the robot shell (100).

3. The underwater robot based on autonomous navigation according to claim 1, characterized in that, The control component (320) includes a soft rubber tail sleeve (321) fixedly connected to the end of the robot shell (100). A connecting block (322) is fixedly connected to the inner wall of the soft rubber tail sleeve (321) away from the control end (200). A connecting shaft (323) is fixedly connected to the surface of the propulsion component (310) inside the soft rubber tail sleeve (321). A locking block (325) is fixedly connected to one end of the connecting shaft (323). A sliding groove (324) is opened inside the connecting block (322). The locking block (325) is slidably connected to the inner wall of the sliding groove (324).

4. The underwater robot based on autonomous navigation according to claim 1, characterized in that, The fluid assembly (330) includes a first conductive tube (331) fixedly connected to the surface of the robot shell (100). A plurality of magnetic support strips (333) are fixedly connected to the outer wall of the first conductive tube (331). A second conductive tube (332) is sleeved on the outer side of the plurality of magnetic support strips (333). Two flow guide vanes (334) are fixedly connected to the surface of the second conductive tube (332). The two flow guide vanes (334) are symmetrically distributed along the axis of the robot shell (100).

5. The underwater robot based on autonomous navigation according to claim 2, characterized in that, The output shaft of the servo motor (315) is fixedly connected to a connecting frame (316), and a counterweight (317) is fixedly connected to the inner wall of the connecting frame (316). The longitudinal section of the counterweight (317) is fan-shaped.

6. The underwater robot based on autonomous navigation according to claim 5, characterized in that, The inner bottom wall of the connecting frame (316) is fixedly connected with a plurality of partitions (318), and a counterweight ball (319) is provided on both sides of the partition (318), and the counterweight ball (319) is in contact with the inner wall of the connecting frame (316).

7. The underwater robot based on autonomous navigation according to claim 3, characterized in that, The horizontal cross-section of the soft rubber tail sleeve (321) is conical, and a plurality of soft rubber wing plates (326) are fixedly connected to the surface of the soft rubber tail sleeve (321).

8. The underwater robot based on autonomous navigation according to claim 7, characterized in that, The inner wall of the soft rubber tail sleeve (321) is fixedly connected with a plurality of hard rubber support strips (327), and the hard rubber support strips (327) and the soft rubber wing plate (326) are distributed alternately.

9. The underwater robot based on autonomous navigation according to claim 4, characterized in that, The end of the second conductive tube (332) away from the control end (200) is fixedly connected to a current-collecting sleeve (335), the current-collecting sleeve (335) has a tapered horizontal cross section, and the current-collecting sleeve (335) is sleeved on the outside of the control component (320).

10. The underwater robot based on autonomous navigation according to claim 9, characterized in that, The magnetic support strip (333) has two internal grooves (3331) inside. A powerful permanent magnet (3333) is fixedly connected to the inner wall of the internal groove (3331). An arc-shaped frame (3332) is fixedly connected to one end of the magnetic support strip (333).

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