Underwater observation robot
By designing foot-type underwater crawling structures and insect bionic materials, combined with PID controllers, the problems of underwater robots adaptability and environmental friendliness in complex seabed topography are solved, and flexible underwater observation and stable movement are achieved.
Patent Information
- Application Number
- CN202421647383.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-12
- Publication Date
- 2025-08-19
- Estimated Expiration
- 2034-07-12
AI Technical Summary
Existing underwater robots have poor adaptability in complex seabed terrain, insufficient movement flexibility, and cause interference to the water environment, especially in soft or ecologically fragile areas that may lead to terrain damage or biological habitat damage.
The foot-type underwater crawling structure is adopted, combining horizontal and vertical thrusters and servo connections, and the lightweight robot legs are designed, using soft materials from insect bionics, and combining with PID controllers to achieve precise posture and fixed depth control.
It improves the adaptability and flexibility of underwater robots, reduces interference to the water environment, enhances stability, adapts to complex seabed terrain, and reduces its impact on the ecology.
Smart Images
Figure CN223237900U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to an underwater observation robot. Background Art
[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are robots designed for extreme underwater operations. The underwater environment is harsh and dangerous, and human diving depths are limited, so underwater robots have become an important tool for developing the ocean. Existing robots typically use fixed propellers, which have poor adaptability to complex seabed terrain and are easily affected by external factors such as water currents. They are also heavy and bulky. Due to the design of their tracks and propulsion systems, tracked underwater robots are typically bulky and large, limiting their use in narrow or complex environments. Furthermore, their movement may have a certain degree of impact on the underwater environment, especially on soft seabeds or ecologically fragile areas, potentially damaging the terrain or biological habitats. Furthermore, due to the design characteristics of tracked robots, their mobility is inferior to that of legged crawling robots. Utility Model Content
[0003] The purpose of the present utility model is to provide an underwater observation robot to solve the problems raised in the above background.
[0004] In order to solve the above technical problems, the present invention specifically provides the following technical solutions: an underwater observation robot, comprising a main board, both sides of the upper side of the main board are fixedly connected to side panels, and the middle and rear ends of the outer sides of the side panels are respectively fixedly connected to the horizontal propeller and the vertical propeller, the four corners of the main board are rotatably connected to the servo and the servo connector, and the servo connector is placed between the main board and the servo, one end of the servo connector is inserted into one end of the servo and rotatably connected, and the outside of the other end of the servo is rotatably connected to the top of the foot support, and at the same time, the bottom of the foot support is fixedly connected to the foot pad.
[0005] Preferably, the main board is composed of two parts, the upper and lower parts, and the upper plane of the upper main board is fixedly connected to a plurality of fixing rings, while both sides of the fixing rings are fixedly connected to the inner sides of the side panels.
[0006] Preferably, the fixing ring is inserted into a fixed connection cabin, and the cabin contains a single-chip microcomputer, a posture sensor, a high-definition camera, a power carrier, a battery, and a distribution board device.
[0007] Preferably, the front end of the cabin is fixedly connected to a cabin hemispherical cover, and the interior of the cabin hemispherical cover is a transparent cover in which a network camera is placed.
[0008] Preferably, the rear end of the cabin body is fixedly connected to the cabin cover, and the inside of the cabin cover is connected to the electronic cabin and the external circuit.
[0009] Preferably, the cabin circuit connects and controls the external propeller and the steering gear.
[0010] Preferably, the horizontal propellers on both sides are located at the same horizontal plane and are symmetrical to each other, and the propellers can rotate forward and reverse.
[0011] Preferably, the propellers on both sides are located at the same vertical plane and are symmetrical to each other, and the propellers can rotate forward and reverse.
[0012] Compared with the existing technology, the advantages of this utility model are:
[0013] This utility model has side panels above the main board, and a fixing ring is provided between the side panels. A cabin is provided inside the fixing ring, and horizontal and vertical thrusters are provided on the outside of the side panels. Servo and servo connectors are provided at the four corners of the main board, and foot supports are provided at the outer ends of the servo connectors. Foot pads are provided underneath the foot supports. This solution aims to solve the problems of adaptability, flexibility, and environmental friendliness of traditional underwater robots and tracked underwater crawling robots during underwater observation. Inspired by insect bionics, the robot adopts a foot-type underwater crawling structure. The robot is light and flexible, can flexibly adapt to complex seabed terrain, and reduces the impact on the underwater environment. By drawing inspiration from the soft material of the insect foot structure, it reduces interference with the underwater ecological environment, is more friendly, and solves the problem of instability of traditional underwater robots during underwater observation.
[0014] Other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely illustrative, and those skilled in the art can, without inventive effort, derive other implementation drawings based on the provided drawings.
[0016] Figure 1 It is an overall schematic diagram of the utility model;
[0017] Figure 2 It is a schematic side view of the entirety of the present invention;
[0018] Figure 3 This is a schematic diagram of the foot support structure of the present invention.
[0019] The reference numerals in the accompanying drawings represent the following:
[0020] 1. Mainboard; 2. Thruster; 3. Side panel; 4. Servo connector; 5. Servo; 6. Foot support; 7. Foot pad; 8. Cabin; 9. Cabin hemispherical cover; 10. Hatch cover; 11. Retaining ring. DETAILED DESCRIPTION
[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0022] See also Figure 1-3 As shown, the utility model provides an underwater observation robot, including a main board 1, both sides of the upper side panels 3 are fixedly connected, and the middle and rear ends of the outer sides of the side panels 3 are respectively fixedly connected to the horizontal propeller 2 and the vertical propeller 2, the four corners of the main board 1 are rotatably connected to the servo 5 and the servo connector 4, and the servo connector 4 is placed between the main board 1 and the servo 5, one end of the servo connector 4 is inserted into one end of the servo 5 and rotatably connected, and the other end of the servo 5 is externally rotatably connected to the upper side of the foot support 6, and at the same time, the bottom of the foot support 6 is fixedly connected to the foot pad 7.
[0023] Please refer to Figure 1 and Figure 2 In this embodiment, the main board 1 is composed of two parts, and the upper plane of the upper main board 1 is fixedly connected to multiple fixing rings 11, while both sides of the fixing rings 11 are fixedly connected to the inner sides of the side panels 3.
[0024] Furthermore, the fixed ring 11 is inserted into the fixed connection cabin 8, and the cabin 8 contains a single-chip microcomputer, a posture sensor, a high-definition camera, a power carrier, a battery, and a distribution board device.
[0025] The cabin 8 provided on the main board 1 is a storage space for the electronic components of the entire robot, and the electronic components provided inside the cabin 8 are used to issue instructions to all the working parts of the robot.
[0026] Furthermore, the front end of the cabin 8 is fixedly connected to the cabin hemispherical cover 9, and the interior of the cabin hemispherical cover 9 is a transparent cover in which a network camera is placed.
[0027] Furthermore, the rear end of the cabin body 8 is fixedly connected to the cabin cover 10, and the inside of the cabin cover 10 is connected to the electronic cabin and the external circuit.
[0028] The two ends of the cabin 8 are sealed with a cabin hemispherical cover 9 and a cabin cover 10 respectively, and a network camera provided in the cabin hemispherical cover 9 is used to detect the path and discover along the way.
[0029] Furthermore, the cabin 8 is connected to and controls the external propeller 2 and servo 5. After the cabin 8 gives instructions to the propeller 2 and servo 5, the propeller 2 can change the movement mode of the entire robot according to the situation, the servo 5 can adapt to different complex underwater road surfaces, and can grab and collect underwater objects.
[0030] Please refer to Figure 1 In this embodiment, the horizontal propellers 2 on both sides are at the same horizontal plane position and are symmetrical to each other, and the propellers 2 can rotate forward and reverse.
[0031] Furthermore, the vertical thrusters 2 on both sides are located in the same vertical plane and are symmetrical to each other, and the thrusters 2 can rotate forward and reverse.
[0032] Among them, horizontal and vertical propellers 2 are provided on both sides of the robot. During the working process, the movement trajectory of the robot can be changed by changing the direction of the propeller 2.
[0033] Working principle: Side panels 3 are provided on both sides above the main board 1, and fixing rings 11 are provided above the main board 1 and between the side panels 3. A cabin 8 is provided in the fixing ring 11, and a cabin hemispherical cover 9 and a hatch 10 are provided at both ends of the cabin 8. There are multiple electronic components inside it to control the operation of the entire robot. Propellers 2 are provided on the middle and rear ends of the outer walls of the side panels 3 respectively. Servo gears 5 and servo connectors 4 are provided at the four corners of the main board 1, and a foot support 6 is provided at the outer end of the servo connector 4. At the same time, a foot pad 7 is provided under the foot support 6. The control system design of the underwater robot is based on a cascade PID control structure, which uses attitude sensors and depth sensors to achieve precise yaw angle control and depth setting functions: the attitude sensor provides real-time roll angle, pitch angle, and yaw angle data. After processing, these data are used as input parameters of the PID controller. The PID controller calculates the output (PWM signal) of the control propeller according to the difference between the set target attitude and the current attitude to achieve precise control.
[0034] Propeller Control: The robot moves forward, backward, left, and right by simultaneously controlling the forward and reverse rotation of two horizontal propellers. Adjusting the propeller speed and direction allows for horizontal movement at varying speeds and directions.
[0035] Roll control: This is achieved through the coordinated operation of the two vertical thrusters. For example, if the right vertical thruster is rotated forward and the left thruster is reversed, the robot will roll to the left, and vice versa. This is particularly important when the robot needs to approach or circumvent complex underwater terrain.
[0036] Depth-fixed mode: By adjusting the output of its two vertical thrusters, the robot can ascend or descend underwater to a specific depth. A PID controller receives feedback from the depth sensor and adjusts the thruster output to maintain the set depth.
[0037] In quadruped mode, the robot's working principle focuses on using its quadruped leg structure to achieve precise ground walking, obstacle avoidance, and complex terrain adaptation. The following is a detailed working principle of the quadruped mode:
[0038] Leg control: Each leg of the bottom structure is controlled by two servos, which are responsible for raising and lowering the leg (vertical movement) and pushing and pulling the leg forward (horizontal movement). Each leg is allowed to move independently, thereby achieving a variety of gaits and adaptability to complex terrain. The servo angle is precisely controlled through a preset action sequence.
[0039] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
[0040] The above embodiments are merely exemplary embodiments of the present application and are not intended to limit the scope of the present application. The scope of protection of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and scope of protection of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the present application.
Claims
1. An underwater observation robot, comprising a mainboard (1), characterized in that: Both sides of the upper part of the main board (1) are fixedly connected to the side panels (3), and the middle and rear ends of the outer sides of the side panels (3) are respectively fixedly connected to the horizontal propeller (2) and the vertical propeller (2). The four corners of the main board (1) are rotatably connected to the steering gear (5) and the steering gear connector (4), and the steering gear connector (4) is placed between the main board (1) and the steering gear (5). One end of the steering gear connector (4) is inserted into one end of the steering gear (5) for rotatable connection, and the other end of the steering gear (5) is externally rotatably connected to the upper part of the foot support (6), and the bottom of the foot support (6) is internally fixedly connected to the foot pad (7).
2. The underwater observation robot according to claim 1, characterized in that: The main board (1) is composed of two upper and lower parts, and the upper plane of the upper main board (1) is fixedly connected to a plurality of fixing rings (11), while both sides of the fixing rings (11) are fixedly connected to the inner sides of the side plates (3).
3. The underwater observation robot according to claim 2, characterized in that: The fixed ring (11) is inserted into a fixed connection cabin (8), and the cabin (8) contains a single chip microcomputer, a posture sensor, a high-definition camera, a power carrier, a battery, and a distribution board device.
4. The underwater observation robot according to claim 3, characterized in that: The front end of the cabin (8) is fixedly connected to the cabin hemispherical cover (9), and the interior of the cabin hemispherical cover (9) is a transparent cover in which a network camera is placed.
5. The underwater observation robot according to claim 4, characterized in that: The rear end of the cabin body (8) is fixedly connected to the cabin cover (10), and the inside of the cabin cover (10) is connected to the electronic cabin and external circuits.
6. The underwater observation robot according to claim 5, characterized in that: The cabin (8) is connected to and controls the external propeller (2) and the steering gear (5).
7. The underwater observation robot according to claim 1, characterized in that: The propellers (2) on both sides are located at the same horizontal plane and are symmetrical to each other, and the propellers (2) can rotate forward and reverse.
8. The underwater observation robot according to claim 7, characterized in that: The propellers (2) on both sides are located at the same vertical plane and are symmetrical to each other, and the propellers (2) can rotate forward and reverse.