Mining underwater detection robot

Abstract

The utility model relates to a mining underwater detection robot which comprises a machine shell, a detection module, a static diving module, a rushing diving module and a main control module, the detection module is arranged at the head of the machine shell, and the rushing diving module is arranged at the tail of the machine shell. The rushing and diving module comprises a propeller arranged at the tail of the machine shell, a motor used for driving the propeller to rotate, a steering rudder rotationally arranged at the tail of the machine shell through a rotating shaft, a servo steering gear used for driving the steering rudder to rotate and fins arranged on the machine shell and located on the two opposite sides of the steering rudder, and the propeller is used for pushing the robot to advance. The steering rudder is used for changing the robot advancing direction. The propellers are adopted to rotate to drive the robot to advance, the steering rudder is combined to enable the robot to steer, compared with the mode that advancing and steering are achieved through multiple propellers, the propellers and the steering rudder are completely different in structure and working principle, and compared with the mode that advancing is achieved through multiple propellers, the cost is lower, and fewer electronic components are used.

Description

Technical Field

[0001] The utility model relates to the technical field of artificial intelligence, in particular to an underwater detection robot for mining. Background Art

[0002] With the continuous development of terrestrial coal resources, shallow and easily mined coal resources are gradually decreasing, while the development of coal resources in deep and complex geological conditions is becoming more difficult. At the same time, the demand for energy in coastal areas is increasing, and the development of underwater coal resources is gradually gaining attention.

[0003] Currently, underwater exploration robots are increasingly used in underwater coal resource exploration and environmental monitoring. However, traditional underwater exploration robots still have many problems, mainly in the following aspects:

[0004] 1) High-precision sensors are needed for geological exploration and environmental monitoring. However, existing sensors are easily damaged in the high-pressure, low-temperature, and highly corrosive environments of the deep sea, and their durability and reliability need to be improved.

[0005] 2) Energy supply primarily relies on batteries, which are needed to power multiple electronic components such as propellers and water pumps. This limited battery life affects the ability to operate continuously for extended periods of time. Furthermore, charging and replacing batteries in deep-sea environments pose challenges.

[0006] 3) The high cost and technical complexity of developing, manufacturing and maintaining high-performance underwater robots increase the economic burden of underwater coal mining.

[0007] A patent mentions an underwater detection robot that uses a combination of static diving and impact diving to improve the flexibility and multi-dimensional operation of the robot's underwater operations. The impact diving method of the robot is achieved by setting multiple thrusters at the tail of the robot, which is costly. Summary of the Invention

[0008] In order to solve the deficiencies of the prior art, the utility model provides a mining underwater detection robot which has a different structure and can operate flexibly and in multiple dimensions.

[0009] In order to solve one or more of the above technical problems, the present invention adopts the following technical solutions:

[0010] A mining underwater detection robot comprises a casing, a detection module arranged in the casing, a static diving module, a rushing diving module and a main control module arranged in the casing, wherein the detection module is arranged at the head of the casing, the rushing diving module is arranged at the tail of the casing, the rushing diving module comprises a propeller arranged at the tail of the casing, a motor for driving the propeller to rotate, a steering rudder arranged at the tail of the casing rotated by a rotating shaft, a servo steering device for driving the steering rudder to rotate, and fins respectively arranged on the casing and located on opposite sides of the steering rudder, the propeller is used to propel the robot forward, and the steering rudder is used to change the direction of travel of the robot.

[0011] By using a propeller in combination with a steering rudder, the robot can move and turn underwater, allowing for flexible operations.

[0012] In some embodiments, a first channel is provided at the tail of the housing corresponding to the position of the propeller in the direction of the rotation axis of the propeller, and the steering rudder is rotatably arranged in the first channel;

[0013] In a vertical direction of the rotation axis of the propeller, second channels are opened on opposite sides of the tail of the housing and corresponding to the positions of the propeller.

[0014] In some specific embodiments, the fins on both sides are provided correspondingly to the second channels on both sides.

[0015] In some embodiments, an extension line of the rotation axis intersects with the surfaces where the fins on both sides are located.

[0016] In some embodiments, the extension line of the rotating shaft is perpendicular to the rotation axis of the propeller.

[0017] In some embodiments, the static diving module includes a first water tank and a second water tank disposed on both sides of the interior of the housing, and a first two-way water pump and a second two-way water pump disposed within the housing, respectively. The first two-way water pump has two ends connected to the first water tank and the housing, respectively, and is used to pump water from the outside of the robot into the first water tank or pump water from the first water tank out of the robot. The second two-way water pump has two ends connected to the second water tank and the housing, respectively, and is used to pump water from the outside of the robot into the second water tank or pump water from the second water tank out of the robot. By using the first two-way water pump and the second two-way water pump to control the amount of water in the first and second water tanks, the robot's diving depth is controlled, achieving the effect of suspension in a water layer. At the same time, by cooperating with the propeller and steering rudder, the robot's direction is changed to achieve steering, rapid ascent or dive, allowing for flexible and multi-dimensional operations.

[0018] In some specific embodiments, the casing includes a nose, a cabin, and a tail arranged in sequence, a first partition and a second partition are arranged in sequence in the cabin along the head-to-tail direction of the casing, and a third partition is arranged between the first partition and the second partition, so that a first compartment is formed between the first partition, the second partition, the third partition and a side wall of the cabin, and a second compartment is formed between the first partition, the second partition, the third partition and the other side wall of the cabin;

[0019] The first water tank, the second water tank, the first two-way water pump and the second two-way water pump are respectively arranged in the first compartment;

[0020] The main control module includes a control processor, a speed regulator and a battery respectively arranged in the second compartment.

[0021] In some specific embodiments, the detection module includes a camera and a sonar respectively arranged in the nose, and the camera and the sonar are respectively connected to the control processor signal, and the control processor is used to transmit the signal detected by the sonar and the picture taken by the camera to the terminal.

[0022] In some specific embodiments, the nose is a transparent nose, which facilitates the camera to take clear photos of the underwater environment.

[0023] In some specific embodiments, the camera and sonar are respectively arranged on the first partition.

[0024] In some specific embodiments, the motor is disposed on the second partition, and the motor is a power motor.

[0025] In some specific embodiments, a mounting seat is further provided between the cabin and the tail, and the servo steering device is provided on the mounting seat.

[0026] In some specific embodiments, the first water tank and the second water tank are respectively rubber water tanks to reduce the weight of the robot.

[0027] In some specific embodiments, the first water tank and the second water tank are spherical water tanks respectively.

[0028] In some specific embodiments, the first bidirectional water pump and the second bidirectional water pump are respectively disposed between the first water tank and the second water tank.

[0029] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0030] The utility model adopts a propeller to rotate and drive the robot to move, combined with a steering rudder to enable the robot to achieve steering. Compared with the method of using multiple propellers to achieve movement and steering, the structures and working principles of the two are completely different. In addition, compared with the method of using multiple propellers, the cost is lower and fewer electronic components are used. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order 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 use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0032] Figure 1 This is a structural diagram of an underwater detection robot for mining according to an embodiment of the present invention;

[0033] Figure 2 for Figure 1 A structural schematic diagram of another view of the mining underwater detection robot;

[0034] Figure 3 for Figure 1 A magnified diagram at center (showing the internal structure);

[0035] Reference numerals :

[0036] 1. Control processor room; 2. Speed ​​governor room; 3. Motor; 4. Propeller; 5. First two-way water pump; 6. First water tank; 7. Mounting base; 8. Battery compartment; 9. Camera; 10. Sonar; 11. Steering rudder; 12. Second two-way water pump; 13. Second water tank; 14. Casing; 14a. Nose; 14b. Cabin; 14c. Tail; 15. Fins; 16. First partition; 17. Third partition; 18. First channel; 19. Second channel. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments in the embodiments of the present invention, all other embodiments obtained by those skilled in the art should fall within the scope of protection of the embodiments of the present invention.

[0038] See also Figures 1-3The underwater detection robot for mining shown includes a housing 14, a detection module arranged in the housing 14, a static diving module, a rushing diving module and a main control module arranged in the housing 14. The detection module is arranged at the head of the housing 14, and the rushing diving module is arranged at the tail of the housing 14.

[0039] See also Figure 3 As shown, the submersible module includes a propeller 4 located at the rear of a housing 14, a motor 3 for driving the propeller 4, a steering rudder 11 located at the rear of the housing 14 that rotates via a shaft, a servo steering device for driving the steering rudder 11, and fins 15 located on the housing 14 and on opposite sides of the steering rudder 11. The propeller 4 is used to propel the robot forward, and the steering rudder 11 is used to change the robot's direction of travel. The use of the propeller 4 to drive the robot forward, combined with the steering rudder 11 to achieve steering, is completely different in structure and operating principle from the method of using multiple propellers to achieve both travel and steering. Furthermore, compared to using multiple propellers, fewer electronic components are used, resulting in lower costs.

[0040] In one embodiment, the rotation axis of the propeller 4 is substantially aligned with the length of the robot. A first channel 18 is defined at the rear of the housing 14, corresponding to the propeller 4, along the axis of the propeller 4. The steering rudder 11 is disposed within the first channel 18. Second channels 19 are defined on opposite sides of the rear of the housing 14, perpendicular to the axis of the propeller 4, corresponding to the propeller 4. The fins 15 on either side correspond to the second channels 19. The first channel 18 and the second channel 19 serve as water channels for the propeller 4 as it rotates.

[0041] In one embodiment, the extension line of the rotation axis of the steering rudder 11 intersects with the surfaces where the fins 15 on both sides are located, and the extension line of the rotation axis of the steering rudder 11 is perpendicular to the rotation axis of the propeller 4 .

[0042] See also Figure 1The static submersible module includes a first water tank 6 and a second water tank 13, both located on opposite sides of a housing 14, and a first two-way water pump 5 and a second two-way water pump 12, both located within the housing 14. The first two-way water pump 5 is connected to the first water tank 6 and the housing 14 at both ends, and is used to pump water from the robot's exterior into the first water tank 6 or out of the robot's interior. The second two-way water pump 12 is connected to the second water tank 13 and the housing 14 at both ends, and is used to pump water from the robot's exterior into the second water tank 13 or out of the robot's exterior. By using the first two-way water pump 5 and the second two-way water pump 12 to pump water into the first water tank 6 and the second water tank 13, respectively, the robot can dive, and the amount of water pumped can be controlled to achieve a water layer suspension effect. This is more stable and energy-efficient than the current method of using propellers for upward propulsion, and consumes almost no energy when hovering underwater. The robot is further combined with a propeller and a steering rudder to change its direction of travel and achieve the purpose of rapid ascent and descent. Its small size makes it easy to move flexibly in a small space and can operate in multiple dimensions.

[0043] In some embodiments, the casing 14 includes a nose 14a, a cabin 14b and a tail 14c arranged in sequence, and a first partition 16 and a second partition are arranged in sequence in the cabin 14b along the head and tail directions of the casing 14, and a third partition 17 is arranged between the first partition 16 and the second partition, so that a first compartment is formed between the first partition 16, the second partition, the third partition 17 and one side wall of the cabin 14b, and a second compartment is formed between the first partition 16, the second partition, the third partition 17 and the other side wall of the cabin 14b, and the first water tank 6, the second water tank 13, the first bidirectional water pump 5 and the second bidirectional water pump 12 are respectively arranged in the first compartment, and the first bidirectional water pump 5 and the second bidirectional water pump 12 are respectively located between the first water tank 6 and the second water tank 13.

[0044] The main control module includes a control processor, a speed regulator and a battery which are respectively arranged in the second compartment.

[0045] In some embodiments, the second compartment is provided with a battery compartment 8, a control processor compartment 1 and a speed regulator compartment 2 in sequence, the control processor is installed in the control processor compartment 1, the battery is installed in the battery compartment 8, and the speed regulator is installed in the speed regulator compartment 2.

[0046] See also Figure 3The detection module includes a camera 9 and a sonar 10 respectively arranged in the nose 14a. The camera 9 is used to take pictures of the underwater environment, and the sonar 10 is used to detect and locate underwater objects. The camera 9 and the sonar 10 are respectively connected to the control processor signal. The control processor contains a picture transmission unit. The control processor is used to transmit the signal detected by the sonar 10 and the picture taken by the camera 9 to the terminal. It can feed back the signal and picture information to the terminal in real time, so that the operator can observe the underwater situation in real time.

[0047] In some embodiments, the nose 14a is a transparent nose, the camera 9 and the sonar 10 are respectively arranged on the first partition 16, and the motor 3 is arranged on the second partition. The motor 3 can be a power motor.

[0048] In some embodiments, a mounting seat 7 is further provided between the cabin 14 b and the tail 14 c , and the servo steering device is provided on the mounting seat 7 .

[0049] In some embodiments, the first water tank 6 and the second water tank 13 are spherical rubber water tanks, which greatly reduce the size of the robot itself.

[0050] The mining underwater detection robot using the above embodiment has at least the following advantages compared to robots on the market:

[0051] 1) The water tank is combined with a water pump to achieve static diving, which has low energy consumption and consumes almost no energy when hovering underwater.

[0052] 2) Low battery consumption, the robot is light and the battery life is long.

[0053] 3) The robot is small in size, allowing for flexible movement in confined spaces. It employs a combination of static and ramming diving, enabling flexible and multi-dimensional operations. Static diving utilizes a water tank combined with a water pump to achieve water layer suspension, while ramming diving utilizes a propeller combined with a steering rudder to change the robot's orientation for rapid ascent and descent.

[0054] 4) The control processor transmits the captured images and sonar detection signals back to the terminal in real time, making it convenient for operators to observe the underwater situation in real time.

[0055] 5) The robot adopts a split casing design and modular design of functional components to facilitate later care and maintenance.

[0056] In the description of the present invention, it should be understood that the terms "tail", "head", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0057] In addition, in the description of the present utility model, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0058] The above implementation methods are only used to illustrate the embodiments of the present invention, and are not intended to limit the embodiments of the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present invention. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of the present invention, and the scope of patent protection of the embodiments of the present invention should be defined by the claims.

Claims

1. A mining underwater detection robot, comprising a housing, a detection module disposed within the housing, a static diving module, a surge diving module, and a main control module disposed within the housing, wherein the detection module is disposed at the head of the housing and the surge diving module is disposed at the rear of the housing, and wherein: The diving module includes a propeller arranged at the tail of the casing, a motor for driving the propeller to rotate, a steering rudder arranged at the tail of the casing that is rotated by a rotating shaft, a servo steering device for driving the steering rudder to rotate, and fins respectively arranged on the casing and located on opposite sides of the steering rudder. The propeller is used to propel the robot forward, and the steering rudder is used to change the direction of movement of the robot.

2. The underwater mining detection robot according to claim 1, characterized in that: In the direction of the rotation axis of the propeller, a first channel is opened at the tail of the housing corresponding to the position of the propeller, and the steering rudder is rotatably arranged in the first channel; In a vertical direction of the rotation axis of the propeller, second channels are opened on opposite sides of the tail of the housing and corresponding to the positions of the propeller.

3. The underwater mining detection robot according to claim 2, characterized in that: The fins on both sides are arranged correspondingly to the second channels on both sides.

4. The underwater mining exploration robot according to claim 1, characterized in that: The extension line of the rotating shaft intersects with the surfaces where the fins on both sides are located.

5. The underwater mining detection robot according to claim 1, characterized in that: The extension line of the rotating shaft is perpendicular to the rotation axis of the propeller.

6. The mining underwater detection robot according to any one of claims 1 to 5, characterized in that: The static submersible module includes a first water tank and a second water tank arranged on both sides of the interior of the casing, and a first two-way water pump and a second two-way water pump respectively arranged in the casing. The two ends of the first two-way water pump are respectively connected to the first water tank and the casing, and the first two-way water pump is used to pump water outside the robot into the first water tank or pump water in the first water tank out of the outside of the robot; the two ends of the second two-way water pump are respectively connected to the second water tank and the casing, and the second two-way water pump is used to pump water outside the robot into the second water tank or pump water in the second water tank out of the outside of the robot.

7. The underwater mining exploration robot according to claim 6, characterized in that: The casing includes a nose, a cabin, and a tail arranged in sequence, a first partition and a second partition are arranged in sequence in the cabin along the head-to-tail direction of the casing, and a third partition is arranged between the first partition and the second partition, so that a first compartment is formed between the first partition, the second partition, the third partition and a side wall of the cabin, and a second compartment is formed between the first partition, the second partition, the third partition and the other side wall of the cabin; The first water tank, the second water tank, the first two-way water pump and the second two-way water pump are respectively arranged in the first compartment; The main control module includes a control processor, a speed regulator and a battery respectively arranged in the second compartment.

8. The underwater mining exploration robot according to claim 7, characterized in that: The detection module includes a camera and a sonar respectively arranged in the nose, and the camera and the sonar are respectively connected to the control processor signal. The control processor is used to transmit the signal detected by the sonar and the picture taken by the camera to the terminal.

9. The underwater mining exploration robot according to claim 8, characterized in that: The nose is a transparent nose; and / or, The camera and sonar are respectively arranged on the first partition.

10. The underwater mining exploration robot according to claim 7, characterized in that: The motor is arranged on the second partition; and / or, The motor is a power motor; and / or, A mounting seat is further provided between the cabin and the tail, and the servo steering device is provided on the mounting seat; and / or, The first water tank and the second water tank are respectively rubber water tanks; and / or, The first water tank and the second water tank are spherical water tanks respectively; and / or, The first bidirectional water pump and the second bidirectional water pump are respectively arranged between the first water tank and the second water tank.

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