CN217022850U - Underwater robot - Google Patents

Abstract

The utility model provides an underwater robot. When the pushing direction of the main thruster component is ensured to be the longitudinal direction of the rack, the pushing direction of the side thruster component is ensured to be the transverse direction of the rack, and the pushing direction of the vertical thruster component is ensured to be the vertical direction of the rack, the main thruster component, the side thruster component and the vertical thruster component are all arranged on the rack; the controller is used for respectively controlling the forward and reverse rotation and the rotating speed of the main thruster assembly, the side thruster assembly and the vertical thruster, and starting and stopping to control the moving direction of the underwater robot under water, so that the robot can move back and forth, left and right and up and down.

Description

Underwater robot

Technical Field

The utility model relates to the field of robots, in particular to an underwater robot.

Background

At present, with the development of economy and technology, the demand for underwater tunnels is increasing, and the detection of the underwater tunnels therewith also becomes a new demand. In recent years, Remote Operated Vehicles (ROV) have been used to collect images and sonar data inside tunnels, where the requirement for visibility inside the tunnel is high and the video data collected by a camera is often incomplete or unclear. Three-dimensional data acquisition using sonar techniques is advantageous because it can acquire accurate profile data within the tunnel. At present, a plurality of multi-beam scanning sonars are matched to carry out 360-degree all-dimensional scanning to carry out periodic inspection. In such a task, the ROV must keep moving on the tunnel centerline as much as possible during scanning, and adjust the attitude according to the detection requirement, which puts higher demands on the driving system of the ROV.

The existing ROV driving system generally adopts four propellers distributed in a vector manner, the angles among the propellers are mostly 45 degrees, as shown in figure 1, the distances a among the propellers are the same, and the turning circle center can be controlled on a central point during pivot turning; when moving back and forth, A, B two propellers are to cancel each other out the left and right components, i.e. the power of thrust of F ═ cos45 ° is wasted. If the distance a between the propellers on both sides is different from the distance b between the propellers on both ends, as shown in fig. 2, besides that A, B two propellers offset each other left and right components, the steering center is set according to the lengths of a and b, and then the angle between the propellers is adjusted, so that the four propellers need to be matched with each other to output power, therefore, the design difficulty of the four propellers of the existing ROV driving system adopting vector distribution is larger, and higher requirements are needed when the propellers are installed, and further the difficulty of assembly is increased.

SUMMERY OF THE UTILITY MODEL

In view of this, the embodiment of the utility model provides an underwater robot, so as to solve the problems of power waste and high design and assembly difficulty caused by the fact that an existing underwater robot adopts four propellers distributed in a vector manner.

In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

an underwater robot comprising: the energy storage device comprises a rack, a main thruster assembly, a side thruster assembly, a vertical thruster assembly, an energy storage mechanism and a controller;

the main thruster assembly, the side thruster assembly and the vertical thruster assembly are all arranged on the frame;

the pushing direction of the main thruster assembly is the longitudinal direction of the rack and is used for pushing the rack to move forwards or backwards;

the pushing direction of the side-push thruster component is the transverse direction of the stander and is used for pushing the stander to move leftwards or rightwards;

the pushing direction of the vertical pushing propeller assembly is the vertical direction of the rack and is used for pushing the rack to move upwards or downwards;

the energy storage mechanism is used for providing electric energy for the main thruster assembly, the side thrusting thruster and the vertical thrusting thruster;

the controller is used for respectively controlling the forward and reverse rotation, the rotating speed and the starting and stopping of the main propeller assembly, the side propeller assembly and the vertical propeller assembly.

Preferably, the side thruster assembly comprises: a first side push thruster and a second side push thruster;

the first side pushes away the propeller and the second side pushes away the propeller symmetry sets up in underwater robot's front end and rear end, and wherein, the first side pushes away the propeller and the second side pushes away the direction of promotion of propeller and is the horizontal of frame, and the controller can control the rotational speed and the turning of first side and second side respectively and push away the propeller to make the frame can move left, the right side, turn left and turn right.

Preferably, the vertical thrust thruster assembly comprises: the first vertical pushing propeller and the second vertical pushing propeller are arranged in the vertical direction;

the first propeller that pushes away and the second propeller that pushes away that hangs down symmetry sets up in underwater robot's front end and rear end, and wherein, the first propeller that pushes away that hangs down is the vertical direction of frame with the second propeller that pushes away that hangs down, and the controller can control the first propeller that pushes away that hangs down and the second rotational speed that pushes away the propeller that hangs down and turn to respectively to make the frame can rebound and move down to and the every single move gesture of adjustment frame.

Preferably, the main thruster assembly comprises: a plurality of main thrusters;

the main thruster arrays are arranged at the tail part of the frame.

Preferably, the top of the frame is of a groove structure;

the underwater robot further includes: a buoyancy device;

the buoyancy device is fixed in the groove structure.

Preferably, the bottom of the frame is provided with a grid plate;

the energy storage mechanism includes: a battery and a battery can;

the battery is sealed in the battery can; the battery jar is installed in the grid board.

Preferably, the method further comprises the following steps: and the sonar equipment is arranged at the front end of the rack.

Preferably, the sonar equipment is 360 degrees multibeam image sonar.

Preferably, the method further comprises the following steps: the inertial navigation system is used for acquiring position, speed, course and attitude data of the underwater robot;

inertial navigation systems are also used to provide positional information to images generated by sonar equipment.

Preferably, the method further comprises the following steps: a speedometer system for providing speed calibration for an inertial navigation system.

Preferably, the method further comprises the following steps: and the anti-collision system is used for preventing the underwater robot from colliding with the tunnel wall or suspended matters.

Preferably, the collision avoidance system comprises: an imaging system and a distance sensor;

the image system is used for observing the surrounding environment of the underwater robot;

the distance sensor is used for acquiring the distance between the underwater robot and the tunnel wall or suspended matters in the tunnel.

Preferably, the method further comprises the following steps: a master control tank;

the controllers are respectively sealed in the main control tank, and the main control tank is arranged at the top of the rack.

The utility model discloses an underwater robot.A main thruster assembly, a side thruster assembly and a vertical thruster assembly are all arranged on a frame when the pushing direction of the main thruster assembly is ensured to be the longitudinal direction of the frame, the pushing direction of the side thruster assembly is ensured to be the transverse direction of the frame, and the pushing direction of the vertical thruster assembly is ensured to be the vertical direction of the frame; the controller is used for respectively controlling the forward and reverse rotation and the rotating speed of the main thruster assembly, the side thruster assembly and the vertical thruster, and starting and stopping to control the moving direction of the underwater robot under water.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic view of an installation of an ROV of the prior art in which two propellers on the side and two propellers on the end of four propellers are arranged in a vector distribution manner and are arranged at equal distances;

fig. 2 is a schematic view of an installation of a prior art ROV provided with four thrusters distributed in vector, in which the distance between two thrusters on the side of the four thrusters is unequal to the distance between two thrusters on the end;

fig. 3 is a schematic structural diagram of an underwater robot provided in an embodiment of the present invention;

fig. 4 is a side view of an underwater robot provided by an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an underwater robot without a buoyancy device and side plates according to an embodiment of the present invention;

fig. 6 is a top view of an underwater robot provided by an embodiment of the utility model without a buoyancy device.

The system comprises a rack 1, a main thruster 2, a first side thruster 3, a second side thruster 4, a first vertical thruster 5, a second vertical thruster 6, a grating plate 7, a support plate 8, a buoyancy device 9, sonar equipment 10, an image system 11, an anti-collision sensor 12, a cushion 13, a height meter 14, a side plate 15, an energy storage mechanism 16, an inertial navigation system 17, a support 18, a main control tank 19, a speedometer system 20 and an expansion tank 21.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An embodiment of the present invention provides an underwater robot, referring to fig. 3 to 6, including: the energy storage device comprises a frame 1, a main thruster 2 assembly, a side thruster assembly, a vertical thruster assembly, an energy storage mechanism 16 and a controller;

the energy storage device comprises a frame 1, a main thruster 2 assembly, a side thruster assembly, a vertical thruster assembly, an energy storage mechanism 16 and a controller;

the main thruster 2 assembly, the side thruster assembly and the vertical thruster assembly are all arranged on the frame 1;

the pushing direction of the main thruster 2 assembly is the longitudinal direction of the frame 1, and is used for pushing the frame 1 to move forwards or backwards;

the pushing direction of the side-pushing propeller assembly is the transverse direction of the rack 1 and is used for pushing the rack 1 to move leftwards or rightwards;

the pushing direction of the vertical pushing propeller assembly is the vertical direction of the rack 1 and is used for pushing the rack 1 to move upwards or downwards;

the energy storage mechanism 16 is used for providing electric energy for the main thruster 2 assembly, the side thrusters and the vertical thrusters;

the controller is used for respectively controlling the forward and reverse rotation, the rotating speed and the start and stop of the main thruster 2 assembly, the side thruster assembly and the vertical thruster assembly.

It should be noted that, the main thruster 2 assembly, the side thruster assembly and the vertical thruster assembly are all mounted on the rack 1, so that the pushing direction of the main thruster 2 assembly is the longitudinal direction of the rack 1, the pushing direction of the side thruster assembly is the transverse direction of the rack 1, and the pushing direction of the vertical thruster assembly is the vertical direction of the rack 1, and then the controller controls the main thruster 2 assembly to rotate forward alone, so that the rack 1 can be pushed forward, that is, the robot can advance forward, or the controller controls the main thruster 2 assembly to rotate backward alone, so that the rack 1 can be pushed backward, that is, the robot can retreat; when the controller controls the side-push thruster to rotate forwards independently, the rack 1 can be pushed to translate leftwards, namely the robot translates leftwards, or when the controller controls the side-push thruster to rotate backwards independently, the rack 1 can be pushed to translate rightwards, namely the robot translates rightwards; when the controller controls the vertical pushing propeller to rotate forwards independently, the rack 1 can be pushed to move upwards, namely the robot moves upwards, or when the controller controls the vertical pushing propeller to rotate backwards independently, the rack 1 can be pushed to move downwards, namely the robot moves downwards; because main 2 subassemblies of propeller, side propeller subassembly, the respective direction of propulsion mutually perpendicular of propeller subassembly that pushes away perpendicularly, and then when needing to advance or retreat, only need start main propeller, and when removing about needs, only need start the side propeller subassembly can, and when needs reciprocate, only need start to push away the propeller subassembly perpendicularly can.

It should be noted that, in the present application, the main thruster 2 assembly, the side thruster assembly and the vertical thruster can be installed at the corresponding positions of the frame 1 while maintaining the stable center of gravity and the unchanged propelling direction of the main thruster 2 assembly, the side thruster assembly and the vertical thruster.

It is noted that, in the present application, the controller component may implement up and down movement of the underwater robot by controlling the vertical pushing propeller, and may also implement suspension of the underwater robot in water by controlling the power of the vertical pushing propeller.

According to the technical scheme disclosed by the embodiment of the application, when the pushing direction of the main thruster 2 component is ensured to be the longitudinal direction of the rack 1, the pushing direction of the side thruster component is ensured to be the transverse direction of the rack 1, and the pushing direction of the vertical thruster component is ensured to be the vertical direction of the rack 1, the main thruster 2 component, the side thruster component and the vertical thruster component are all arranged on the rack 1; the controller is used for respectively controlling the forward and reverse rotation and the rotating speed of the main thruster 2 assembly, the side thruster assembly and the vertical thruster, and starting and stopping to control the moving direction of the underwater robot under water.

Specifically, the side thruster assembly comprises: a first side push thruster 3 and a second side push thruster 4;

the first side pushes away the propeller 3 with the second side pushes away the propeller 4 symmetry set up in the front end and the rear end of frame 1, wherein, the first side pushes away the propeller 3 with the second side pushes away the direction of 4 and is the horizontal of frame 1, the controller can control respectively the first side pushes away the propeller 3 with the rotational speed and the turning of second side pushes away the propeller 4, so that frame 1 can move left, move right, turn left and turn right.

It should be noted that, the first side pushing propeller 3 and the second side pushing propeller 4 are symmetrically arranged at the front end and the rear end of the rack 1, that is, the first side pushing propeller 3 is arranged at the front end of the rack 1, the second side pushing propeller 4 is arranged at the rear end of the rack 1, the pushing directions of the first side pushing propeller 3 and the second side pushing propeller 4 are arranged in the transverse direction of the rack 1, and the rotating speeds and the steering directions of the first side pushing propeller 3 and the second side pushing propeller 4 are respectively controlled by the controller, so that the rack 1 can move leftwards, move rightwards, turn leftwards and turn rightwards, that is, when the controller controls the first side pushing propeller 3 and the second side pushing propeller 4 to rotate forwards simultaneously, the underwater robot can be pushed to move leftwards, and when the first side pushing propeller 3 and the second side pushing propeller 4 are controlled to rotate backwards simultaneously, the underwater robot can be pushed to move rightwards; this application also can push away the speed difference between propeller 3 and the second side through first side, the direction is poor realizes that underwater robot turns left or to the right, and 3 corotation of propeller are pushed away to first side promptly, and when the second side pushed away propeller 4 reversal, can realize underwater robot left turn, and pushes away propeller 3 reversal at first side, and when the second side pushed propeller 4 corotation, can realize underwater robot right turn.

Preferably, the first side thruster 3 and the second side thruster 4 are arranged along the centre line of the chassis 1.

Specifically, push perpendicularly propeller subassembly includes: a first vertical pushing propeller 5 and a second vertical pushing propeller 6;

first push the propeller 5 perpendicularly with the second pushes the propeller 6 symmetry perpendicularly set up in the front end and the rear end of frame 1, wherein, first push the propeller 5 perpendicularly with the second pushes the direction of push of propeller 6 perpendicularly is the vertical direction of frame 1, the controller can control respectively first push the propeller 5 perpendicularly with the second pushes the rotational speed of propeller 6 perpendicularly and turns to, so that frame 1 can the rebound and move down, and the adjustment the every single move gesture of frame 1.

It should be noted that, the first vertical pushing thruster 5 and the second vertical pushing thruster 6 are symmetrically arranged at the front end and the rear end of the rack 1, that is, the first vertical pushing thruster 5 is arranged at the front end of the rack 1, the second vertical pushing thruster 6 is arranged at the rear end of the rack 1, and the pushing directions of the first vertical pushing thruster 5 and the second vertical pushing thruster 6 are both the vertical direction of the rack 1, and the rotating speeds and the rotating directions of the first vertical pushing thruster 5 and the second vertical pushing thruster 6 are respectively controlled by the controller, so that the rack 1 can move up and down, and the pitching attitude of the rack 1 is adjusted, that is, when the controller controls the first vertical pushing thruster 5 and the second vertical pushing thruster 6 to rotate forward simultaneously, the underwater robot can move up, and when the first vertical pushing thruster 5 and the second vertical pushing thruster 6 to rotate backward simultaneously, the underwater robot can move downwards, and when the posture of the underwater robot needs to be adjusted, the speed and direction difference between the first sub vertical pushing propeller and the second sub vertical pushing propeller can be controlled to be realized.

Further, the main thruster 2 assembly comprises: a plurality of main propellers 2;

a plurality of main thrusters 2 are arranged in an array at the rear of the frame 1.

It should be noted that, the number of the main propellers 2 can be determined by those skilled in the art according to the gravity and the size of the underwater robot, and the thrust of the main propellers 2, and the number of the main propellers 2 is preferably one in the present application, but the number of the main propellers 2 is not limited to one.

It should be noted that a plurality of main thrusters 2 may be arranged at the tail of the frame 1 in an array, or may be arranged at a plurality of places of the frame 1, respectively, or may be arranged at other positions of the frame 1 in an array, which may be selected by those skilled in the art as needed.

It should be noted that the array mode of the present invention can be a circular array mode or a rectangular array mode, and those skilled in the art can select the array mode according to the requirement.

Further, the top of the frame 1 is of a groove structure;

the underwater robot further includes: a buoyancy device 9;

the buoyancy means 9 is fixed in the groove structure.

It should be noted that, the top of the rack 1 is of a groove structure, and the buoyancy device 9 is fixed in the groove structure, so that the rack 1 can protect the buoyancy device 9 to a certain extent, can also play a certain limiting role, and can prevent impact of water flow, suspended matters and the like.

The buoyancy device 9 is made of a non-metal material with the density smaller than that of water, buoyancy can be provided for the underwater robot, and the underwater robot can be driven to ascend by conveniently pushing the propeller vertically.

Preferably, the buoyancy device 9 is mounted on the support plate 8 through a screw, a gasket and a nut, and the support plate 8 is fixed on the top of the frame 1.

The washer can increase the contact area between the nut and the buoyancy device 9.

Specifically, the bottom of the frame 1 is provided with a grating plate 7;

the energy storage mechanism 16 includes: a battery and a battery can;

the battery is divided into a plurality of parts and sealed in the battery can; the battery can is mounted to the grid plate 7.

The bottom of the frame 1 is provided with the grid plate 7, and the battery is sealed in the battery can; the battery jar sets up and installs in grid plate 7, and grid plate 7 can be better fix the battery jar, and grid plate 7 can also effectively reduce underwater robot's resistance when reciprocating.

It should be noted that, the battery jar is fixed to the grid plate 7, so that the center of gravity of the underwater robot can be effectively lowered, and the problem of overturning of the underwater robot can be solved.

It should be noted that the grid plate 7 may be replaced by a fixing plate with a plurality of through holes.

It should be noted that, the fixing plate is provided with a plurality of through holes, which not only reduces the self weight, but also reduces the resistance of the underwater robot when moving.

Preferably, the axis of the battery can is parallel and/or perpendicular to the longitudinal centerline of the chassis 1.

As shown in fig. 5, the axis of the battery can is parallel to and/or perpendicular to the longitudinal center line of the frame 1, thereby further reducing the resistance to movement of the underwater robot.

Preferably, a plurality of battery cans are evenly distributed in the grid plate 7.

It should be noted that, the plurality of battery tanks are uniformly distributed on the grid plate 7, so that the weight distribution of the underwater robot body can be ensured to be more uniform.

Further, underwater robot still includes: and a sonar device 10 disposed at the front end of the housing 1.

By providing sonar equipment at the front end of the gantry 1, three-dimensional data of the tunnel wall can be acquired in real time by the sonar equipment 10, and further, the structural details of the tunnel can be displayed.

Preferentially, sonar equipment 10 accessible support 18 sets up the front end at the support body, and be in on the fore-and-aft central line of support body, this support 18 can adopt the cross-section to be triangle-shaped's cylindricality structure, sonar equipment 10 is horizontal in triangle-shaped, support 18 can be formed by a plurality of pipe welding, be connected through a plurality of connecting pipes between support 18 and the support body support 18, the connecting pipe can effectively improve the joint strength of support 18 and support body, make support 18 more firm, and then prevent that underwater robot and suspended solid from taking place slight striking and leading to sonar equipment 10 problem of droing to appear, and can also avoid sonar equipment to damage.

Specifically, sonar equipment 10 is 360 multi-beam image sonar.

It should be noted that, sonar equipment 10 is set to 360 ° multibeam image sonar, which can acquire centimeter-level high-density three-dimensional data, and sonar equipment 10 uses high-frequency low-power acoustic multibeam technology, so that a continuous 360 ° cross section can be directly generated, and the structural details of the tunnel can be clearly shown.

Note that sonar equipment 10 may be 360 ° multi-beam image sonar or other types of sonar equipment, and is not limited to 360 ° multi-beam image sonar.

Further, underwater robot still includes: the inertial navigation system 17 is used for acquiring position, speed, course and attitude data of the underwater robot;

the inertial navigation system 17 is also used to provide position information to the images generated by the sonar device.

It should be noted that, by setting the inertial navigation system 17 for acquiring the position, speed, course and attitude data of the underwater robot and providing position information for the image generated by the sonar equipment, the position, speed, course and attitude data of the underwater robot can be conveniently known by the staff in real time, so that the staff can conveniently control the underwater robot to operate, and position information can be provided for the generated image when the image is generated by the sonar equipment, and when the image generated by the sonar equipment shows that the tunnel is damaged or cracked, the staff can repair the tunnel according to the position information on the image of the damaged or cracked.

Preferably, the inertial navigation system 17 is fixed in a central position on the grid 7.

It should be noted that the inertial navigation system 17 may be fixed at the central position of the grid plate 7, or may be fixed at other positions of the grid plate 7, and in the present application, the inertial navigation system 17 is preferably fixed at the central position of the grid plate 7, and the generated navigation information has good connectivity, low noise, high data update rate, and good short-term accuracy and stability.

Further, the underwater robot further includes: a speedometer system 20 for providing speed calibration for the inertial navigation system 17.

It should be noted that, by setting the speedometer system 20, the speedometer system 20 provides speed calibration for the inertial navigation system 17, and can be used in combination with the inertial navigation system 17, so as to form an underwater integrated navigation system with high precision, high reliability and high autonomy, and the integrated mode does not need any support of external land-based or satellite-based equipment when working.

Preferably, the speedometer system 20 can be a doppler speedometer system 20, and the doppler speedometer system 20 can detect the distance between the bottom of the frame body and the bottom of the corresponding tunnel in real time (instead of a distance sensor arranged at the bottom of the frame body), so as to prevent the underwater robot from colliding with the bottom of the tunnel, and has the advantages of high reaction speed and the like; and because the transmitting beam of the Doppler velocity odometer system 20 is narrow and is transmitted to the sea bottom at a steep angle, the concealment and the interference resistance are good.

Further, the underwater robot further includes: an anti-collision system for preventing collision of the underwater robot with the tunnel wall or suspended matter.

It should be noted that, by providing the anti-collision system for preventing the underwater robot from colliding with the tunnel wall or the suspended matter, the underwater robot can be prevented from colliding with the suspended matter or the tunnel wall and being damaged in the moving process.

Specifically, the anti-collision system includes: an imaging system 11 and a distance sensor;

the image system 11 is used for observing the surrounding environment of the underwater robot;

the distance sensor is used for acquiring the distance between the underwater robot and the tunnel wall or suspended matters in the tunnel.

It should be noted that, by setting the image system 11 for observing the surrounding environment of the underwater robot, the surrounding environment image of the underwater robot can be acquired in real time under the condition of better visibility, so that the worker can know the surrounding environment of the underwater robot in real time, the worker can conveniently operate the underwater robot to move, and the underwater robot can be effectively prevented from colliding with suspended matters or a tunnel wall.

Preferably, the image system 11 is composed of a plurality of image pickup devices and illumination lamps.

It should be noted that by arranging the illuminating lamp, the camera can shoot the surrounding environment of the underwater robot more clearly, so that workers can observe the surrounding environment of the underwater robot conveniently, and the robot is prevented from moving and colliding with suspended matters or tunnel walls.

However, when the underwater visibility is poor, the imaging system 11 cannot clearly shoot the surrounding environment of the underwater robot, in order to avoid collision of the underwater robot with suspended matters or a tunnel wall in the moving process, by arranging a distance sensor for acquiring the distance between the underwater robot and the tunnel wall or the suspended matters in the tunnel, the distance sensor measures the distance between the underwater robot and the tunnel wall or the suspended matters in the tunnel in real time, and when the distance measured by the distance sensor is smaller than a preset value, by changing the moving direction, collision of the underwater robot with the tunnel wall or the suspended matters in the tunnel is avoided.

Preferably, the distance sensors include an anti-collision sensor 12 and an altimeter 14.

The anti-collision sensor 12 is arranged at the head of the frame 1.

It should be noted that the anti-collision sensor 12 may be a 881LImaging digital multi-frequency imaging sonar, or may be a digital multi-frequency imaging sonar of another model. However, since 881LImaging digital multi-frequency imaging sonar can take 100 photographs per second at a distance resolution of 2 mm within 1 meter, resulting in near photographic image quality, the preferred anti-collision sensor 1212 of this application is 881LImaging digital multi-frequency imaging sonar.

Preferably, a plurality of height gauges 14 are distributed on both sides and top of the gantry 1 for acquiring in real time the distance of the top of the gantry 1 from the tunnel wall and the distance of both sides from the tunnel wall.

It should be noted that the anti-collision sensor 12 is arranged at the head of the machine frame 1, and the anti-collision sensor 12 scans the surrounding area to generate a visual image, so that the worker can operate the surrounding environment of the underwater robot in real time, and further can avoid the collision between the underwater robot operated by the worker and suspended matters or a tunnel wall. In order to avoid missing the scanning of the obstacle in front of the underwater robot, the response time for finding the obstacle needs to be reserved, so that the distance between the obstacle in front and the underwater robot needs to be known, and the tunnel section needs to be scanned in a large range and a long distance as possible.

And through setting up altimeter 14 in the both sides of frame 1 and top, also can be when image system 11 can not be clear with the surrounding environment shooting of underwater robot, the real-time measurement detects the distance of underwater robot and lateral wall, and then staff's accessible altimeter 14 measuring height controls underwater robot and can keep on the central line in tunnel when the operation, and then makes things convenient for underwater robot to patrol and examine under water, and can also avoid underwater robot to move the in-process and bump with the tunnel wall through the distance with the tunnel lateral wall.

Further, the underwater robot further includes: a master control tank 19;

the controller is sealed in the main control tank 19, and the main control tank 19 is arranged at the top of the rack 1.

It should be noted that the controller is sealed in the main control tank 19, and the main control tank 19 is arranged at the top of the rack 1, so that the controller can be effectively prevented from being damaged due to liquid entering the controller.

Preferably, the axis of the master tank 19 is parallel to the longitudinal centerline of the chassis 1.

It should be noted that the axis of the main control tank 19 is parallel to the longitudinal center line of the frame 1, and further, when the underwater robot moves, the tank body with the cylindrical structure can reduce the resistance of the underwater robot when moving underwater.

It is noted that the controller may also be provided in other types of sealed configurations and is not limited to the master tank 19 in a sealed column configuration.

Further, the underwater robot further includes: a plurality of expansion tanks 21 mounted on the frame 1.

It should be noted that, by installing the plurality of expansion tanks 21 on the frame 1, when other functions of the underwater robot need to be expanded in a later period, the underwater robot is convenient to expand parts with other functions, and the later maintenance is convenient.

Preferably, the underwater robot further comprises: a plurality of soft pads 13 arranged at the bottom of the frame 1.

It should be noted that, by arranging the plurality of cushions 13 at the bottom of the rack 1, when the underwater robot is launched to land, the robot can stably land on the ground, the vibration of the robot can be reduced, and the functions of protecting the rack body and installing equipment on the rack body are achieved.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (13)

1. An underwater robot, comprising: the energy storage device comprises a rack, a main thruster assembly, a side thruster assembly, a vertical thruster assembly, an energy storage mechanism and a controller;

the main thruster assembly, the side thruster assembly and the vertical thruster assembly are all arranged on the frame;

the pushing direction of the main thruster assembly is the longitudinal direction of the rack and is used for pushing the rack to move forwards or backwards;

the pushing direction of the side-pushing propeller assembly is transverse to the rack and is used for pushing the rack to move leftwards or rightwards;

the pushing direction of the vertical pushing propeller component is the vertical direction of the rack and is used for pushing the rack to move upwards or downwards;

the energy storage mechanism is used for providing electric energy for the main thruster assembly, the side thruster and the vertical thruster;

the controller is used for respectively controlling the forward and reverse rotation, the rotating speed and the starting and stopping of the main thruster assembly, the side thruster assembly and the vertical thruster assembly.

2. The underwater robot of claim 1, wherein the side thruster assembly comprises: a first side push thruster and a second side push thruster;

the first side pushes away the propeller with the second side pushes away the propeller symmetry set up in the front end and the rear end of frame, wherein, the first side pushes away the propeller with the second side pushes away the direction of promotion of propeller and is the horizontal of frame, the controller can control respectively the first side pushes away the propeller with the rotational speed and the turning to of second side pushes away the propeller, so that the frame can move left, move right, turn left and turn right.

3. The underwater robot of claim 1, wherein the vertical push thruster assembly comprises: a first vertical push thruster and a second vertical push thruster;

the first propeller that pushes vertically with the second pushes away the propeller symmetry set up in the front end and the rear end of frame, wherein, the first propeller that pushes vertically with the second pushes away the direction of push of propeller and is all the vertical direction of frame, the controller can control respectively the first propeller that pushes vertically with the second pushes away the rotational speed of propeller and turns to perpendicularly, so that the frame can rebound and lapse, and adjust the every single move gesture of frame.

4. An underwater robot as recited in claim 1, wherein the main thruster assembly comprises: a plurality of main thrusters;

the main thruster arrays are arranged at the tail part of the frame.

5. An underwater robot as in claim 1, wherein the frame top is a groove structure;

the underwater robot further includes: a buoyancy device;

the buoyancy device is fixed in the groove structure.

6. An underwater robot as in claim 1, wherein a grating plate is provided at a bottom of the housing;

the energy storage mechanism includes: a battery and a battery can;

the battery is sealed in the battery can; the battery jar is installed in the grid plate.

7. The underwater robot of claim 6, further comprising: and the sonar equipment is arranged at the front end of the rack.

8. The underwater robot of claim 7, wherein the sonar equipment is a 360 ° multi-beam image sonar.

9. The underwater robot of claim 7, further comprising: the inertial navigation system is used for acquiring position, speed, course and attitude data of the underwater robot;

the inertial navigation system is also used to provide position information to images generated by the sonar equipment.

10. The underwater robot of claim 9, further comprising: a speedometer system for providing speed calibration for the inertial navigation system.

11. The underwater robot of claim 1, further comprising: and the anti-collision system is used for preventing the underwater robot from colliding with the tunnel wall or suspended matters.

12. Underwater robot according to claim 11, characterized in that said collision avoidance system comprises: an imaging system and a distance sensor;

the image system is used for observing the surrounding environment of the underwater robot;

the distance sensor is used for acquiring the distance between the underwater robot and the tunnel wall or suspended matters in the tunnel.

13. The underwater robot of claim 1, further comprising: a master control tank;

the controller is sealed in the main control tank, and the main control tank is arranged at the top of the rack.

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