Underwater floating robot system

Abstract

The utility model discloses an underwater floating robot system which is used for reducing the influence of an observation assembly on the resistance characteristic of an underwater part. The underwater floating robot system comprises an underwater part and an overwater part. The underwater part comprises a robot body (9), two propellers (7), a controller and an observation assembly. The controller is arranged in the robot body (9), electrically connected with the two propellers (7) and used for controlling the working states of the two propellers (7). The observation assembly is arranged at the front end of the robot body (9). The overwater part comprises an operation panel (10), and the operation panel (10) is in communication connection with the controller and used for sending a control signal to the controller; and the controller is also used for transmitting the received various signals to the operation panel (10).

Description

Technical Field

[0001] The utility model specifically relates to an underwater floating robot system. Background Art

[0002] There are multiple water intake tunnels in a nuclear power plant. After long-term use, there may be blockages or damage in the water intake tunnels, so regular inspections of the water intake tunnels are required.

[0003] When the water intake tunnel is in use, water flows through the tunnel, which is difficult to detect manually, so underwater robots are often used for detection. Traditional underwater robots do not take into account the impact of the layout of the observation equipment carried by the underwater robot on the resistance characteristics of the underwater robot platform, resulting in greater resistance to the robot platform in the water flow, making the robot platform move slowly and unstable, affecting the detection of the water intake tunnel. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide an underwater floating robot system in view of the above-mentioned deficiencies in the prior art, which can reduce the influence of the observation component on the resistance characteristics of the underwater part, thereby facilitating the detection work of the robot.

[0005] In the first aspect, an embodiment of the utility model provides an underwater floating robot system, which includes an underwater part and an above-water part. The underwater part includes a robot body, two thrusters, a controller and an observation component. The two thrusters are respectively arranged on opposite sides of the robot body, and are used to adjust the posture and motion state of the robot body. The controller is arranged in the robot body and is electrically connected to the two thrusters, and is used to control the working state of the two thrusters. The observation component is arranged at the front end of the robot body, and the observation component is electrically connected to the controller, and is used to observe the external environment under the control of the controller, and output the observation signal to the controller. The above-water part includes an operation panel, and the operation panel is communicatively connected to the controller, and is used to send a control signal to the controller; the controller is also used to transmit various received signals to the operation panel.

[0006] Therefore, in the underwater floating robot system provided by the embodiment of the utility model, by setting two propellers on opposite sides of the robot body, and setting the observation component at the front end of the robot body, the influence of the setting position of the observation component and the propeller on the resistance characteristics of the underwater part is reduced, and the resistance of the underwater part in the water flow can be improved, thereby improving the situation that the underwater part moves slowly and the posture is unstable in the water flow. By making the operation panel and the controller communicate and connect, and making the observation signal of the observation component output to the controller, the controller transmits the various signals received to the operation panel, so that the operator can control the underwater part on the operation panel and observe the image in the water intake tunnel, thereby realizing the detection of the water intake tunnel.

[0007] In some embodiments, the observation component includes a scanning sonar, a camera and a fill light, and the scanning sonar, the camera and the fill light are all electrically connected to the controller. The scanning sonar is a multi-beam forward-looking sonar, which is used to obtain an acoustic image of the tunnel wall through sonar scanning under the control of the controller, and transmit the obtained acoustic image of the tunnel wall to the operation panel. The camera is used to obtain an optical image in the tunnel under the control of the controller, and transmit the obtained optical image in the tunnel to the operation panel. The fill light is used to increase the brightness in the tunnel under the control of the controller.

[0008] In some embodiments, the underwater part further includes an underwater acoustic communication device, which is disposed on the upper surface of the robot body and is electrically connected to the controller. The operation panel realizes communication connection with the controller through the underwater acoustic communication device.

[0009] In some embodiments, the underwater part further includes a speed measuring sonar, which is disposed on the upper surface of the robot body, and the speed measuring sonar and the underwater acoustic communication device are respectively located on opposite sides of the upper surface of the robot body. The speed measuring sonar is electrically connected to the controller and the operation panel, respectively, and is used to detect the moving speed of the robot body under the control of the controller, and transmit the detected speed data to the operation panel.

[0010] In some embodiments, the underwater part further comprises a suspension mechanism, which is arranged on the upper surface of the robot body and located between the velocity measuring sonar and the underwater acoustic communication device.

[0011] In some embodiments, the underwater part and the above-water part are connected to each other through an umbilical cable, and the umbilical cable is fixed to the rear end of the robot body. The underwater part also includes a retractable system, which is arranged at the rear end of the robot body and is used to recycle the robot body.

[0012] In some embodiments, the underwater part further comprises a collision avoidance sonar, which is arranged at the front end of the robot body. The collision avoidance sonar is electrically connected to the controller, and is used to detect obstacles in the water, and transmit the detection results to the controller. The controller is also used to control the working state of the two thrusters according to the detection results, so that the underwater part avoids obstacles.

[0013] In some embodiments, the underwater part further includes a navigation component, which is disposed inside the robot body. The navigation component is electrically connected to the controller, and is used to automatically generate a recovery signal and transmit it to the controller after the above-water part encounters a fault. The controller is also used to control the two thrusters to work according to the recovery signal, so that the underwater part returns to the position where the above-water part is located.

[0014] In some embodiments, the underwater part further includes a plurality of handles disposed at the lower part of both sides of the robot body. The above-water part further includes a power supply system, which is electrically connected to the operation panel and the controller respectively, and is used to supply power to the controller and the operation panel. The controller has a power supply distribution function.

[0015] In some embodiments, the underwater part further comprises a backup power supply, which is disposed inside the robot body. The backup power supply is electrically connected to the controller and is used to provide power to the controller in the event of a failure of the power supply system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 : A structural diagram of an underwater floating robot system provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0018] Embodiment 1:

[0019] like Figure 1 As shown, an embodiment of the utility model provides an underwater floating robot system, which is mainly used in nuclear power plants to observe water intake tunnels used in nuclear power plants.

[0020] The underwater floating robot system includes an underwater part and an above-water part. The underwater part includes a robot body 9, two thrusters 7, a controller ( Figure 1The robot body 9 is provided with a plurality of pushers 7 (not shown) and an observation component. The two pushers 7 are respectively arranged on opposite sides of the robot body 9, and are used to adjust the posture and motion state of the robot body 9. The controller is arranged in the robot body 9, and is electrically connected to the two pushers 7, and is used to control the working state of the two pushers 7. The observation component is arranged at the front end of the robot body 9, and the observation component is electrically connected to the controller, and is used to observe the external environment under the control of the controller, and output the observation signal to the controller.

[0021] The underwater part is the part of the underwater floating robot system that can enter below the water surface to observe the inside of the water intake tunnel of the nuclear power plant, and the above-water part is the part of the underwater floating robot system that controls the underwater part and monitors the images observed by the underwater part.

[0022] Exemplarily, the robot body 9 includes a watertight compartment, buoyancy material and a frame, which are used to carry other components of the robot system and provide waterproof protection for the components disposed inside the robot body.

[0023] Exemplarily, two propellers 7 are symmetrically arranged on both sides of the robot body 9. The propeller 7 includes a driving component and a blade, and the driving component drives the blade to rotate, which can provide power for the underwater part. The propeller 7 can also adjust the direction to adjust the direction of the power it provides, so that the underwater part can be turned.

[0024] Exemplarily, the working states of the propeller 7 include forward propulsion, reverse propulsion, changing propulsion direction, stopping propulsion, etc.

[0025] It can be understood that by adjusting the working state of the propeller 7, the underwater part can be moved forward, backward, suspended in a stationary state or turned, so that the underwater part can be moved to any position in the water intake tunnel, making it easier for the observation component to conduct detailed and comprehensive inspection of the water intake tunnel.

[0026] Furthermore, the arrangement positions of the observation assembly and the propeller 7 take into account the influence on the resistance characteristics of the underwater part, which can improve the resistance of the underwater part in the water flow, thereby improving the situation where the underwater part moves slowly and has an unstable posture in the water flow.

[0027] Exemplarily, the controller has data input, data processing and data output functions.

[0028] For example, the controller may be a single chip microcomputer or a microcomputer.

[0029] like Figure 1 As shown, the above-water part includes an operation panel 10 , which is communicatively connected to the controller and is used to send control signals to the controller; the controller is also used to transmit various received signals to the operation panel 10 .

[0030] Exemplarily, the operation panel 10 and the controller are communicated via a zero-buoyancy optical fiber cable. The diameter of the zero-buoyancy optical fiber cable is approximately 3 mm. The outer sheath of the zero-buoyancy cable is made of polyurethane material, and high-strength anti-tear Kevlar bulletproof wire is added inside, so that the tensile strength of the zero-buoyancy optical fiber cable reaches 100 kg.

[0031] For example, the operator can send a "forward signal" to the controller through the operation panel 10. After receiving the above "forward signal", the controller controls the propeller 7 to work so that the underwater part moves forward; or, the operator can send a "start observation" signal to the controller through the operation panel 10. After receiving the above start observation signal, the controller controls the observation component to start so as to observe the inside of the water intake tunnel, and transmits the observation signal output by the observation component to the operation panel 10. The operator can then observe the image inside the water intake tunnel in real time on the operation panel 10.

[0032] Through the above-mentioned setting, the underwater part can be remotely controlled through the surface part, and the image inside the water intake tunnel can be observed.

[0033] Therefore, in the underwater floating robot system provided by the embodiment of the utility model, by setting the two thrusters 7 on the opposite sides of the robot body 9, and setting the observation component at the front end of the robot body 9, the influence of the setting position of the observation component and the thruster 7 on the resistance characteristics of the underwater part is reduced, and the resistance of the underwater part in the water flow can be improved, thereby improving the situation that the underwater part moves slowly and the posture is unstable in the water flow. By making the operation panel 10 and the controller communicate and connect, and outputting the observation signal of the observation component to the controller, the controller transmits the various signals received to the operation panel 10, so that the operator can control the underwater part on the operation panel 10 and observe the image in the water intake tunnel, thereby realizing the detection of the water intake tunnel.

[0034] In some embodiments, Figure 1 As shown, the observation components include a scanning sonar 1, a camera and a fill light ( Figure 1 The scanning sonar 1, the camera and the fill light are all electrically connected to the controller. The scanning sonar 1 is a multi-beam forward-looking sonar, which is used to obtain an acoustic image of the tunnel wall by sonar scanning under the control of the controller, and transmit the obtained acoustic image of the tunnel wall to the operation panel 10. The camera is used to obtain an optical image in the tunnel under the control of the controller, and transmit the obtained optical image in the tunnel to the operation panel 10. The fill light is used to increase the brightness in the tunnel under the control of the controller.

[0035] Exemplarily, the scanning sonar 1 is located at the lower part of the front end of the robot body 9, and the camera and the fill light are located at the upper part of the front end of the robot body 9, so as to reduce the interference between the scanning sonar 1 and the camera.

[0036] The scanning sonar 1 can be used to perform 3D scanning on the inner wall of the tunnel, obtain continuous high-resolution acoustic images of the underwater tunnel wall, and use high-frequency, low-power acoustic multi-beam technology to obtain continuous 360-degree profile data. The optical image inside the tunnel can be obtained through the camera, which can realize detection inside the tunnel in multiple dimensions.

[0037] In some embodiments, Figure 1 As shown, the underwater part also includes an underwater acoustic communication device 3, which is arranged on the upper surface of the robot body 9 and is electrically connected to the controller. The operation panel 10 realizes communication connection with the controller through the underwater acoustic communication device 3.

[0038] The underwater acoustic communication device 3 can perform underwater communication using sound waves.

[0039] Exemplarily, the above-water part also has the functions of receiving and transmitting sound waves, so as to receive signals transmitted by the underwater acoustic communicator 3 and transmit signals to the underwater acoustic communicator 3 .

[0040] Through the above-mentioned arrangement, the influence of the setting position of the underwater acoustic communication machine 3 on the resistance characteristics of the underwater part can be reduced, and the underwater acoustic communication machine 3 can be facilitated to transmit sound waves upward, avoiding interference of other components to the sound waves, so as to ensure the communication quality of the underwater acoustic communication machine 3, realize wireless communication between the operation panel 10 and the controller, and avoid the influence of the wired communication line of the wired communication on the movement of the underwater part.

[0041] In some embodiments, Figure 1 As shown, the underwater part further includes a speed measuring sonar 5, which is arranged on the upper surface of the robot body 9, and the speed measuring sonar 5 and the underwater acoustic communication device 3 are respectively located on opposite sides of the upper surface of the robot body 9. The speed measuring sonar 5 is electrically connected to the controller and the operation panel 10, respectively, and is used to detect the moving speed of the robot body 9 under the control of the controller, and transmit the detected speed data to the operation panel 10.

[0042] Through the above-mentioned setting, the influence of the setting position of the speed measuring sonar 5 on the resistance characteristics of the underwater part can be reduced, the sonar interference between the speed measuring sonar 5 and the hydroacoustic communication device 3 can be reduced, and the speed information of the underwater part can be directly obtained through the operation panel 10.

[0043] In some embodiments, Figure 1 As shown, the underwater part also includes a hanging mechanism 4, which is arranged on the upper surface of the robot body 9 and is located between the speed measuring sonar 5 and the underwater acoustic communicator 3.

[0044] like Figure 1 As shown, the hanging mechanism 4 is arranged on the top of the robot body 9, and the top of the hanging mechanism 4 has a protrusion.

[0045] The lifting mechanism 4 is used to lift the underwater part into the water, so that the underwater part can be lifted into the water conveniently through the lifting mechanism 4 .

[0046] In some embodiments, Figure 1 As shown, the underwater part and the above-water part are connected to each other through an umbilical cable, and the umbilical cable is fixed to the rear end of the robot body 9. The underwater part also includes a retracting system 6, which is arranged at the rear end of the robot body 9 and is used to recycle the robot body 9.

[0047] Exemplarily, the umbilical cable includes electrical cables and optical cables, and the underwater part and the surface part can simultaneously transmit electrical energy and optical signals through the umbilical cable.

[0048] Exemplarily, the controller and the operation panel 10 are connected to each other by optical signals, and the controller transmits optical signals to the operation panel 10 via the optical cable in the umbilical cable. The electric energy of the above-water part can be transmitted to the underwater part via the cable in the umbilical cable.

[0049] Through the above arrangement, the influence of the arrangement positions of the umbilical cable and the retractable system 6 on the resistance characteristics of the underwater part can be reduced, and the umbilical cable and the retractable system 6 can be prevented from affecting the movement of the underwater part.

[0050] In some embodiments, Figure 1 As shown, the underwater part also includes a collision avoidance sonar 2, which is arranged at the front end of the robot body 9. The collision avoidance sonar 2 is electrically connected to the controller and is used to detect obstacles in the water and transmit the detection results to the controller. The controller is also used to control the working state of the two thrusters 7 according to the detection results so that the underwater part avoids obstacles.

[0051] Exemplarily, the collision avoidance sonar 2 generates a first collision signal when it encounters an obstacle or detects that the distance to the obstacle is less than a preset value. The first collision signal is transmitted to the controller. After receiving the above-mentioned first collision signal, the controller processes it and sends a corresponding control signal to the two thrusters 7, so that the two thrusters 7 change the propulsion direction so that the underwater part changes the motion trajectory and avoids the above-mentioned obstacle.

[0052] Through the above settings, the influence of the setting position of the collision avoidance sonar 2 on the resistance characteristics of the underwater part can be reduced, and the setting position of the collision avoidance sonar 2 can be made closer to potential obstacles to quickly detect obstacles and enable the underwater part to avoid obstacles.

[0053] In some embodiments, the underwater portion also includes a navigation component ( Figure 1 The navigation component is arranged inside the robot body 9. The navigation component is electrically connected to the controller and is used to automatically generate a recovery signal and transmit it to the controller after the above-water part encounters a fault. The controller is also used to control the two thrusters 7 to work according to the recovery signal so that the underwater part returns to the position where the above-water part is located.

[0054] Exemplarily, the navigation component has a positioning function, an automatic path planning function, and the like.

[0055] Exemplarily, the underwater part has two working modes: remote control mode and autonomous mode. In the remote control mode, the operator controls the underwater part through the operation panel 10 and issues remote control commands to the underwater part. The underwater part can move forward, backward, move left and right, float up and down, turn, etc. according to the remote control commands of the operator, and can also travel at a fixed depth and heading; in the autonomous mode, the underwater part can automatically operate at a preset speed, heading, and depth. After the surface part encounters a fault, the underwater part must have an underwater safe recovery process. The underwater part can automatically generate a recovery signal according to the current position and transmit it to the controller. The controller controls the two thrusters 7 to work according to the recovery signal to return the underwater part to the position where the surface part is located.

[0056] Illustratively, during the autonomous return of the underwater part, the surface part can also use the operation panel 10 to monitor the working status of the robot system and make corresponding corrections to the motion trajectory of the underwater part to ensure the safe recovery of the underwater part.

[0057] Through the above arrangement, the underwater part can be recovered when a failure occurs in the above-water part and it is difficult to control the underwater part.

[0058] In some embodiments, Figure 1 As shown, the underwater part also includes a plurality of handles 8 arranged at the lower part of both sides of the robot body 9. The above-water part also includes a power supply system, which is electrically connected to the operation panel 10 and the controller respectively, and is used to supply power to the controller and the operation panel 10. The controller has a power distribution function.

[0059] Exemplarily, the electric energy of the power supply system is first transmitted to the controller, and then transmitted to each power-consuming component (such as a camera, a fill light, a thruster 7, etc.) through the power distribution function of the controller.

[0060] Through the above arrangement, it is convenient to transport the underwater part through the handle 8, reduce the influence of the handle 8 on the resistance characteristics of the underwater part, and help reduce the number of connecting lines for transmitting electrical energy between the various components of the underwater part.

[0061] In some embodiments, Figure 1As shown, the underwater part also includes a backup power supply, which is arranged inside the robot body 9. The backup power supply is electrically connected to the controller to provide power to the controller in the event of a power system failure.

[0062] Exemplarily, the backup power source is a rechargeable battery.

[0063] Through the above-mentioned arrangement, when the power supply system of the above-water part fails and cannot supply power to the controller of the underwater part, the backup power supply can be used to supply power to the controller, so that the navigation assembly, thruster 7 and other components can work normally, thereby realizing automatic recovery of the underwater part.

[0064] When using the underwater floating robot system, first establish a communication connection between the underwater part and the surface part, then hoist the underwater part underwater through the hoisting mechanism 4, control the underwater part to enter the tunnel through the operation panel 10, and monitor the tunnel through the scanning sonar 1, camera and fill light on the underwater part. After the monitoring is completed, the underwater part is recovered by the retracting system 6, and the underwater part is hoisted to the surface of the water through the hoisting mechanism 4.

[0065] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. An underwater floating robot system, characterized in that: It includes underwater and above-water parts; The underwater part includes: Robot body (9); Two thrusters (7), respectively arranged on opposite sides of the robot body (9), for adjusting the posture and motion state of the robot body (9); a controller, which is arranged in the robot body (9) and is electrically connected to the two thrusters (7) and is used to control the working state of the two thrusters (7); and, An observation component is arranged at the front end of the robot body (9), the observation component is electrically connected to the controller, and is used to observe the external environment under the control of the controller and output an observation signal to the controller; The above-water part comprises an operation panel (10), and the operation panel (10) is communicatively connected with the controller and is used to send control signals to the controller; the controller is also used to transmit various received signals to the operation panel (10).

2. The underwater floating robot system according to claim 1, characterized in that: The observation component comprises a scanning sonar (1), a camera and a fill light, and the scanning sonar (1), the camera and the fill light are all electrically connected to the controller; The scanning sonar (1) is a multi-beam forward-looking sonar, which is used to obtain an acoustic image of the tunnel wall through sonar scanning under the control of the controller, and transmit the obtained acoustic image of the tunnel wall to the operation panel (10); The camera is used to acquire an optical image in the tunnel under the control of the controller, and transmit the acquired optical image in the tunnel to the operation panel (10); The fill light is used to increase the brightness in the tunnel under the control of the controller.

3. The underwater floating robot system according to claim 1, characterized in that: The underwater part also includes an underwater acoustic communication device (3), which is arranged on the upper surface of the robot body (9) and is electrically connected to the controller; The operation panel (10) is connected to the controller through the underwater acoustic communication device (3).

4. The underwater floating robot system according to claim 3, characterized in that: The underwater part further comprises a speed measuring sonar (5), which is arranged on the upper surface of the robot body (9), and the speed measuring sonar (5) and the underwater acoustic communication device (3) are respectively located on two opposite sides of the upper surface of the robot body (9); The speed measuring sonar (5) is electrically connected to the controller and the operation panel (10) respectively, and is used to detect the moving speed of the robot body (9) under the control of the controller, and transmit the detected speed data to the operation panel (10).

5. The underwater floating robot system according to claim 4, characterized in that: The underwater part also includes a hanging mechanism (4); The hanging mechanism (4) is arranged on the upper surface of the robot body (9) and is located between the speed measuring sonar (5) and the underwater acoustic communication device (3).

6. The underwater floating robot system according to any one of claims 1 to 4, characterized in that: The underwater part and the above-water part are connected to each other via an umbilical cable, and the umbilical cable is fixed to the rear end of the robot body (9); The underwater part also includes a retractable system (6), which is arranged at the rear end of the robot body (9) and is used to recover the robot body (9).

7. The underwater floating robot system according to any one of claims 1 to 4, characterized in that: The underwater part also includes a collision avoidance sonar (2), and the collision avoidance sonar (2) is arranged at the front end of the robot body (9); The collision avoidance sonar (2) is electrically connected to the controller and is used to detect obstacles in the water and transmit the detection results to the controller; The controller is also used to control the working states of the two thrusters (7) according to the detection results, so that the underwater part avoids obstacles.

8. The underwater floating robot system according to any one of claims 1 to 4, characterized in that: The underwater part also includes a navigation component, which is arranged inside the robot body (9); The navigation assembly is electrically connected to the controller and is used to automatically generate a recovery signal and transmit it to the controller when the above-water part encounters a fault. The controller is also used to control the two thrusters (7) to work according to the recovery signal, so as to make the underwater part return to the position where the above-water part is located.

9. The underwater floating robot system according to any one of claims 1 to 4, characterized in that: The underwater part also includes a plurality of handles (8) arranged at the lower parts of both sides of the robot body (9); The above-water part further comprises a power supply system, which is electrically connected to the operation panel (10) and the controller respectively, and is used to supply power to the controller and the operation panel (10); The controller has a power supply distribution function.

10. The underwater floating robot system according to claim 9, characterized in that: The underwater part also includes a backup power supply, which is arranged inside the robot body (9); The backup power supply is electrically connected to the controller and is used to provide electrical energy to the controller in the event of a failure in the power supply system.

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