本申请是申请号201610512392.9、申请日2016.7.4、名称“水下自主吸附机器人”的分案申请。This application is a divisional application with application number 201610512392.9, application date 2016.7.4, and title "underwater autonomous adsorption robot".
技术领域technical field
本发明涉及一种水下自主吸附机器人。The invention relates to an underwater autonomous adsorption robot.
背景技术Background technique
随着海洋探测领域的日益扩大，水下机器人引起了越来越多的关注。水下机器人不仅可以代替人类完成许多危险的工作，而且可以促进海洋资源的开发。现有的水下机器人，移动方式多为自主移动，存在水下能源供给不足、续航能力差、机器人活动范围受限等问题。As the field of ocean exploration expands day by day, underwater robots have attracted more and more attention. Underwater robots can not only replace humans to complete many dangerous tasks, but also promote the development of marine resources. Most of the existing underwater robots move autonomously, and there are problems such as insufficient underwater energy supply, poor battery life, and limited range of movement of the robot.
传统的导航仪器在生产工艺上有了很大提高，在信息处理算法上也改进了很多，但是仍然存在误差。在使用时为了保证精度，必须对数据进行实时修正。这不仅加重了工作任务，而且依旧不能保证定位信息的准确。另外，无线电波在水下的传播会迅速衰减，使得GPS也无法发挥效用。Traditional navigation instruments have been greatly improved in production technology, and have also improved a lot in information processing algorithms, but there are still errors. In order to ensure the accuracy during use, the data must be corrected in real time. This not only increases the work tasks, but also cannot guarantee the accuracy of positioning information. In addition, radio waves attenuate rapidly underwater, rendering GPS useless.
发明内容Contents of the invention
本发明的目的在于提供一种结构合理，工作性能好的水下自主吸附机器人。The purpose of the present invention is to provide an underwater autonomous adsorption robot with reasonable structure and good working performance.
本发明的技术解决方案是：Technical solution of the present invention is:
一种水下自主吸附机器人，其特征是：包括带有吸盘的吸附装置，使机器人吸附于水中哺乳动物的表皮；还包括将吸附装置发射至水中哺乳动物表皮的电磁发射装置；还包括将主控制器、电磁发射装置、通信装置拖曳至吸附装置附件的拖曳装置；还包括北斗通信装置；还包括与所述的吸附装置、电磁发射装置、拖曳装置、北斗通信装置相连的主控制器，主控制器与遥控器通讯；当水中哺乳动物出现时，所述的遥控器发射信号至主控制器，主控制器控制电磁发射装置将吸附装置加速并发射出去；所述的拖曳装置将所述的电磁发射装置、北斗通讯装置等拖至吸附装置附近；当水中哺乳动物浮出水面换气时，北斗通信装置将机器人所在位置及北斗通信装置上各探测传感器得到的信息实时传至陆上基站。An underwater autonomous adsorption robot is characterized in that: it includes an adsorption device with a suction cup, so that the robot is adsorbed on the skin of mammals in water; it also includes an electromagnetic launching device for launching the adsorption device to the skin of mammals in water; The controller, electromagnetic launching device, and communication device are towed to the towing device attached to the adsorption device; it also includes a Beidou communication device; The controller communicates with the remote controller; when mammals appear in the water, the remote controller transmits a signal to the main controller, and the main controller controls the electromagnetic emitting device to accelerate and launch the adsorption device; The electromagnetic launch device and Beidou communication device are dragged to the vicinity of the adsorption device; when the mammals in the water surface to take a breath, the Beidou communication device transmits the location of the robot and the information obtained by the detection sensors on the Beidou communication device to the land base station in real time.
所述吸附装置包括设有内腔的壳体，壳体前端设置吸盘，壳体中设有水泵，水泵的前端设有伸入吸盘中的水管；当吸附装置至哺乳动物表皮时，水泵将吸盘内的水抽至腔体，增强吸力。The adsorption device includes a housing with an inner cavity, a suction cup is arranged at the front end of the housing, a water pump is arranged in the housing, and a water pipe extending into the suction cup is provided at the front end of the water pump; The water inside is pumped into the cavity to enhance the suction.
所述电磁发射装置包括与升压模块连接的电容组，电容组与多级电磁加速线圈组连接，多级电磁加速线圈组设有多级加速位置传感器。The electromagnetic emitting device includes a capacitor group connected to the boost module, the capacitor group is connected to a multi-stage electromagnetic accelerating coil group, and the multi-stage electromagnetic accelerating coil group is provided with a multi-stage accelerating position sensor.
所述吸附装置上连接有绳索；所述拖曳装置包括滚轮，滚轮中上装由主控制器控制工作的弹簧发条机构，所述绳索缠绕在滚轮上，电磁发射装置、北斗通信装置、主控制器由滚轮拖动；主控制器控制使滚轮发条机构中的弹簧发条机构做功，然后利用其储备的势能驱动滚轮，使滚轮沿绳索滚动至吸附装置附近，同时拖动电磁发射装置、北斗通信装置、主控制器至吸附装置附近。The adsorption device is connected with a rope; the towing device includes a roller, and a spring clockwork mechanism controlled by the main controller is mounted on the roller, and the rope is wound on the roller. It is dragged by the roller; the main controller controls the spring spring mechanism in the roller spring mechanism to do work, and then uses its stored potential energy to drive the roller, so that the roller rolls along the rope to the vicinity of the adsorption device, and at the same time drags the electromagnetic launch device, Beidou communication device, the main controller to the vicinity of the adsorption device.
所述北斗通信装置包括接有接收天线的信号处理模块，信号处理模块与主控制器连接；有与外接天线连接的通信模块，通信模块接有SIM卡，通信模块与主控制器连接；所述探测传感器包括水压传感器和用于检测海洋中的污染物或者矿物质的物质传感器。The Beidou communication device includes a signal processing module connected with a receiving antenna, the signal processing module is connected with the main controller; there is a communication module connected with the external antenna, the communication module is connected with a SIM card, and the communication module is connected with the main controller; Detection sensors include water pressure sensors and material sensors for detecting pollutants or minerals in the ocean.
吸盘上贴有三件压力传感器，在检测到吸盘与哺乳动物的表皮均匀接触后，水泵动作，阀门在抽水结束后关闭，封住水泵口，从而获得更大的吸力。There are three pressure sensors attached to the suction cup. When it is detected that the suction cup is evenly in contact with the skin of the mammal, the water pump will act, and the valve will be closed after pumping to seal the pump port, thereby obtaining greater suction.
本发明的水下自主吸附机器人通过电磁加速将其吸附装置发射至哺乳动物表皮，拖曳装置利用发条实现，通过基于北斗的定位及报文传输系统，借助哺乳动物定时上浮的特点，实现机器人与外界的信息交互。电磁发射与其他发射方式相比，运行过程中只使用电能，所以基本没有噪音，也没有产生有害物质，不会造成水体污染，也不会对海洋生物造成伤害。拖曳模块使用发条机构来驱动滚轮将水下机器人主体拖至目标物，避免了在水下使用电能，优化了机器人的重量与体积。本发明不仅节省了机器人在水下运动所需要的能量，大大提升了它的续航力，而且扩大了探测范围，提高了安全性能，丰富了水下机器人的替代领域。The underwater autonomous adsorption robot of the present invention launches its adsorption device to the epidermis of mammals through electromagnetic acceleration. Information exchange with the outside world. Compared with other emission methods, electromagnetic emission only uses electric energy during operation, so there is basically no noise, no harmful substances are produced, water pollution is not caused, and marine life is not harmed. The towing module uses a clockwork mechanism to drive the rollers to drag the main body of the underwater robot to the target, avoiding the use of electric energy underwater, and optimizing the weight and volume of the robot. The invention not only saves the energy needed for the underwater robot to move, greatly improves its battery life, but also expands the detection range, improves the safety performance, and enriches the alternative field of the underwater robot.
附图说明Description of drawings
下面结合附图和实施例对本发明作进一步说明。The present invention will be further described below in conjunction with drawings and embodiments.
图1是水下自主吸附机器人基本结构框图。Figure 1 is a block diagram of the basic structure of an underwater autonomous adsorption robot.
图2是吸附装置结构图。Figure 2 is a structural diagram of the adsorption device.
图3是电磁发射装置基本结构图。Fig. 3 is a basic structural diagram of the electromagnetic emission device.
图4是吸附装置在电磁发射装置中加速过程图。Fig. 4 is a diagram of the acceleration process of the adsorption device in the electromagnetic emission device.
图5是拖曳装置基本结构图。Fig. 5 is a basic structural diagram of the towing device.
图6是北斗通信装置基本结构图。Fig. 6 is a basic structural diagram of a Beidou communication device.
具体实施方式detailed description
参照图1，一种水下自主吸附机器人，包括带有吸盘、腔体和水泵的吸附装置4，使机器人吸附于鲸鱼、海豚等哺乳动物表皮；还包括通过加速线圈将所述的吸附装置4发射至哺乳动物表皮的电磁发射装置3，所述的电磁发射装置3由遥控器2控制；还包括滚轮、发条组成的拖曳装置5；还包括北斗通信装置6；还包括与所述的吸附装置4、电磁发射装置3、拖曳装置5、通信装置6相连的主控制器1。With reference to Fig. 1, a kind of underwater self-absorbing robot comprises the adsorption device 4 that has sucker, cavity and water pump, makes the robot adsorb on the skin of mammals such as whale, dolphin; Also includes described adsorption device 4 by accelerating coil Emitted to the electromagnetic launcher 3 of the mammalian epidermis, the electromagnetic launcher 3 is controlled by the remote controller 2; it also includes a dragging device 5 composed of rollers and springs; it also includes a Beidou communication device 6; The main controller 1 connected with the device 4 , the electromagnetic emission device 3 , the dragging device 5 , and the communication device 6 .
当哺乳动物出现时，所述的遥控器2发射信号至主控制器1，主控制器1控制电磁发射装置3将吸附装置4加速并发射出去，至哺乳动物表皮时，所述吸附装置4的水泵将吸盘内的水抽至腔体，增强吸力。所述的拖曳装置5利用发条机构将所述的电磁发射装置3、通讯装置6等拖至吸附装置4处。当哺乳动物浮出水面换气时，通信装置6将机器人所在位置及各探测传感器信息等实时传至陆上基站。所述的主控制器1选用型号可以是STM32F103RBT6的STM32系列单片机或者其他类型的控制器。所述的遥控器2型号为PT2272-M4无线收发模块。When a mammal appears, the remote controller 2 transmits a signal to the main controller 1, and the main controller 1 controls the electromagnetic emission device 3 to accelerate and launch the adsorption device 4, and when it reaches the skin of the mammal, the adsorption device 4 The water pump pumps the water in the suction cup to the cavity to enhance the suction. The towing device 5 uses a clockwork mechanism to drag the electromagnetic emission device 3 and the communication device 6 to the adsorption device 4 . When the mammal surfaced to take a breath, the communication device 6 transmits the position of the robot and the information of each detection sensor to the base station on land in real time. The selected model of the main controller 1 can be STM32 series single-chip microcomputer of STM32F103RBT6 or other types of controllers. The model of the remote controller 2 is PT2272-M4 wireless transceiver module.
参照图2，图1所述的吸附装置4主要由电池20、腔体21、水泵22、阀门23、水管24、吸盘25、压力传感器26、水泵固定卡盘27组成。所述的电池20用于给水泵22供电，卡盘27用于固定水泵22，在制作时与腔体21粘连或焊接相连，吸盘25由硅胶类物质制成。吸盘25上贴有三件压力传感器26，在检测到吸盘25与目标物均匀接触后，空腔21内的水泵22动作，由下方抽水口通过与之相连的水管24将吸盘25内的水通过右边排水口送至空腔21，阀门23在抽水结束后关闭，封住水泵口，从而获得更大的吸力。2, the adsorption device 4 described in FIG. 1 is mainly composed of a battery 20, a cavity 21, a water pump 22, a valve 23, a water pipe 24, a suction cup 25, a pressure sensor 26, and a water pump fixing chuck 27. The battery 20 is used to supply power to the water pump 22, the chuck 27 is used to fix the water pump 22, and is connected to the cavity 21 by adhesion or welding during manufacture, and the suction cup 25 is made of silica gel. There are three pressure sensors 26 attached to the suction cup 25. After detecting that the suction cup 25 is in uniform contact with the target, the water pump 22 in the cavity 21 will act, and the water in the suction cup 25 will pass through the right The drain port is sent to the cavity 21, and the valve 23 is closed after drawing water to seal the water pump port, thereby obtaining greater suction.
参照图3，所述的电磁发射装置3的电磁驱动部分由升压模块31、电容组32、电磁线圈33及晶闸管开关IGBT 34组成。电磁发射装置采用高压电容组32对电磁线圈33放电，工作电源电压经升压模块31升压后方可对电容组32进行充电。驱动电路利用晶闸管开关IGBT34对电磁线圈33进行通断电控制，其中所述的IGBT的导通与关断由UC3843控制实现。Referring to FIG. 3 , the electromagnetic driving part of the electromagnetic transmitting device 3 is composed of a boost module 31 , a capacitor bank 32 , an electromagnetic coil 33 and a thyristor switch IGBT 34 . The electromagnetic emission device uses a high-voltage capacitor group 32 to discharge the electromagnetic coil 33 , and the capacitor group 32 can be charged after the working power supply voltage is boosted by the booster module 31 . The driving circuit uses the thyristor switch IGBT34 to control the power on and off of the electromagnetic coil 33, wherein the on and off of the IGBT is controlled by the UC3843.
参照图4，图4所述的吸附装置4与图1 所述的吸附装置4以及图2所述吸附装置为同一装置。电容充电结束后，图1所述的遥控器2发出发射吸附装置4的命令，所述的主控制器接通一级电磁加速线圈42，当一级加速位置传感器45检测到吸附装置中点已至电磁线圈中点输出高电平时，关闭一级加速线圈42，并接通二级电磁加速线圈43，当二级加速位置传感器46检测到吸附装置中点已至电磁线圈中点输出高电平时，主控制器关闭二级加速线圈43，接通三级电磁加速线圈44，当三级加速位置传感器47检测到吸附装置中点已至电磁线圈中点输出高电平时，关闭三级加速线圈44。本发明所述的加速位置传感器可以选择ST118型光电传感器或者其他可以实现位置检测功能的传感器。Referring to FIG. 4 , the adsorption device 4 described in FIG. 4 is the same device as the adsorption device 4 described in FIG. 1 and the adsorption device described in FIG. 2 . After the capacitor charging is finished, the remote controller 2 described in FIG. 1 sends an order to launch the adsorption device 4, and the main controller connects the primary electromagnetic acceleration coil 42. When the primary acceleration position sensor 45 detects that the midpoint of the adsorption device has When the high level is output to the midpoint of the electromagnetic coil, the primary acceleration coil 42 is turned off, and the secondary electromagnetic acceleration coil 43 is connected. When the secondary acceleration position sensor 46 detects that the midpoint of the adsorption device has reached the midpoint of the electromagnetic coil, the output is high , the main controller closes the secondary acceleration coil 43, connects the tertiary electromagnetic acceleration coil 44, and when the tertiary acceleration position sensor 47 detects that the midpoint of the adsorption device has reached the midpoint of the electromagnetic coil to output a high level, closes the tertiary acceleration coil 44 . The acceleration position sensor of the present invention can choose ST118 type photoelectric sensor or other sensors that can realize the position detection function.
参照图5，所述的水下自主吸附机器人主控制器、电磁发射装置、通信装置等51与滚轮53相连，所述的吸附模块4与绳索54相连，并且绳索54缠绕于滚轮53上。图1所述的吸附装置4与图5所述的吸附装置4是同一装置。图1所述的主控制器1先对图5所述的滚轮53发条机构中的发条弹簧做功（图中未示出），然后利用其储备的势能驱动固定在机器人上的滚轮53，使其沿绳索54滚动至吸附装置4附近，从而使得水下自主吸附机器人其余部分与吸附装置4贴合。为了防止滚轮53在运动的过程中打滑，需要将滚轮53与绳索54接触的凹槽表面做成粗糙曲面。拖曳所采用的绳索必须具有密度小，韧性强，耐腐蚀，摩擦系数大等特点。可选用目前海洋作业常用的超高分子量聚乙烯缆索。Referring to FIG. 5 , the main controller, electromagnetic launcher, and communication device 51 of the underwater autonomous adsorption robot are connected to the roller 53 , and the adsorption module 4 is connected to the rope 54 , and the rope 54 is wound on the roller 53 . The adsorption device 4 described in FIG. 1 is the same device as the adsorption device 4 described in FIG. 5 . The main controller 1 described in Fig. 1 first works on the spring spring in the clockwork mechanism of the roller 53 described in Fig. 5 (not shown in the figure), and then utilizes its stored potential energy to drive the roller 53 fixed on the robot, Make it roll along the rope 54 to the vicinity of the adsorption device 4, so that the remaining parts of the underwater autonomous adsorption robot are attached to the adsorption device 4. In order to prevent the roller 53 from slipping during the movement, it is necessary to make the surface of the groove where the roller 53 contacts with the rope 54 into a rough curved surface. The rope used for towing must have the characteristics of low density, strong toughness, corrosion resistance, and high friction coefficient. The ultra-high molecular weight polyethylene cables commonly used in marine operations can be selected.
参照图6，所述的北斗通信装置主要由北斗接收天线61、北斗信号处理模块62、传感器模块63、外接天线64、北斗通信模块65和SIM卡66组成。选用的北斗信号处理模块62型号为TM8620。无源天线型号为TA-011&GPS。信号处理模块根据北斗相关协议接收来自北斗卫星的报文信息，然后利用相关公式计算出水下自主吸附机器人的位置信息，通过标准串口传输给主控制器，接收天线则是用来辅助接收北斗卫星的信号。传感器模块包括水压传感器和各类物质传感器，其中水压传感器可选用MPXV7002DP压力传感器模块，利用该模块可以检测到哺乳动物上浮至海面时，可以指导各模块动作进行信息传输。各类物质传感器则用于检测海洋中的污染物或者矿物质，若有新情况，则通过北斗短报文模块向基站进行报备。北斗通信模块主要是利用卫星通讯SIM 卡以北斗系统特有的短信方式将机器人所获取的当前位置信息及传感器信息发送到基站，供其分析海洋情况。Referring to FIG. 6 , the Beidou communication device is mainly composed of a Beidou receiving antenna 61 , a Beidou signal processing module 62 , a sensor module 63 , an external antenna 64 , a Beidou communication module 65 and a SIM card 66 . The model of Beidou signal processing module 62 selected is TM8620. The passive antenna model is TA-011&GPS. The signal processing module receives the message information from the Beidou satellite according to the Beidou related protocol, and then uses the relevant formula to calculate the position information of the underwater autonomous adsorption robot, and transmits it to the main controller through the standard serial port, and the receiving antenna is used to assist in receiving the Beidou satellite. Signal. The sensor module includes a water pressure sensor and various material sensors. The water pressure sensor can choose the MPXV7002DP pressure sensor module. This module can detect when a mammal floats to the sea surface, and can guide the actions of each module for information transmission. Various material sensors are used to detect pollutants or minerals in the ocean. If there is any new situation, it will report to the base station through the Beidou short message module. The Beidou communication module mainly uses the satellite communication SIM card to send the current location information and sensor information obtained by the robot to the base station in the form of short messages unique to the Beidou system for it to analyze the ocean situation.
| Application Number | Priority Date | Filing Date | Title |
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| CN201710730635.0ACN107697245B (en) | 2016-07-04 | 2016-07-04 | Information interaction system of underwater autonomous adsorption robot |
| Application Number | Priority Date | Filing Date | Title |
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| CN201610512392.9ACN106005319B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous adsorption robot |
| CN201710730635.0ACN107697245B (en) | 2016-07-04 | 2016-07-04 | Information interaction system of underwater autonomous adsorption robot |
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| CN201610512392.9ADivisionCN106005319B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous adsorption robot |
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| CN201610512392.9AActiveCN106005319B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous adsorption robot |
| CN201710730634.6AExpired - Fee RelatedCN107651142B (en) | 2016-07-04 | 2016-07-04 | Autonomous control system of underwater adsorption robot |
| CN201710730635.0AExpired - Fee RelatedCN107697245B (en) | 2016-07-04 | 2016-07-04 | Information interaction system of underwater autonomous adsorption robot |
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| CN201610512392.9AActiveCN106005319B (en) | 2016-07-04 | 2016-07-04 | Underwater autonomous adsorption robot |
| CN201710730634.6AExpired - Fee RelatedCN107651142B (en) | 2016-07-04 | 2016-07-04 | Autonomous control system of underwater adsorption robot |
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