CN113184148A - Light operation modularization of snake eel shape is from independently fortune dimension robot under water - Google Patents

Abstract

The invention relates to a snake eel-shaped light operation modular underwater autonomous operation and maintenance robot which comprises a robot body, wherein the robot body comprises a plurality of module cabins, the module cabins are mutually fixed through bolts, the types of the module cabins comprise a mechanical claw tool cabin, a mechanical wrench tool cabin, a power cabin, a battery cabin, an expansion battery cabin and a joint cabin, the mechanical claw tool cabin and the mechanical wrench tool cabin are respectively arranged at two ends of the robot body, the power cabin, the battery cabin and the expansion battery cabin are arranged between the mechanical claw tool cabin and the mechanical wrench tool cabin and are connected through the joint cabin, and the joint cabin adjusts the relative positions of the two connected module cabins. Compared with the prior art, the underwater robot has the advantages of improving the motion flexibility and stability of the underwater robot, having a wireless charging function, being capable of carrying out routing inspection tasks in a resident underwater mode and the like.

Description

Light operation modularization of snake eel shape is from independently fortune dimension robot under water

Technical Field

The invention relates to the technical field of underwater robots, in particular to a snake eel-shaped light operation modular underwater autonomous operation and maintenance robot.

Background

In recent years, underwater robots have been used to perform inspection of marine infrastructures such as subsea oil and gas production systems, subsea observation networks, and offshore wind farms. The traditional underwater robots of the existing autonomous underwater vehicle, the remote control unmanned underwater vehicle and the like are rigid structures, have poor trafficability and flexibility in complex underwater facilities, generally do not have the function of underwater charging, and cannot meet the requirement of long-time underwater work. The existing underwater bionic robot improves the motion flexibility of the underwater robot to a certain extent, but has low fine adjustment on the posture and the position of the robot and usually does not have the operation capability. The underwater robot is usually required to carry different devices such as a camera, a sonar, a mechanical claw, a mechanical wrench and an underwater detection sensor in an underwater infrastructure inspection task, and particularly when the underwater robot faces underwater tasks with high complexity, the adaptability of the existing underwater robot to multiple tasks is low.

Disclosure of Invention

The invention aims to overcome the defects of low flexibility, single function, low universality and no operation capability of the autonomous underwater robot in the prior art, and provides the light-operation modular underwater autonomous operation and maintenance robot in the shape of the snake eel.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides a little operation modularization of snake eel shape is autonomic fortune dimension robot under water, includes the robot, the robot includes multiple module cabin, the module cabin passes through bolt reciprocal anchorage, the type in module cabin includes gripper tool cabin, mechanical wrench tool cabin, piggyback pod, battery compartment, extension battery compartment and joint cabin, gripper tool cabin and mechanical wrench tool cabin divide and locate robot both ends, gripper tool cabin and mechanical wrench tool cabin are located between gripper tool cabin and the mechanical wrench tool cabin to piggyback pod, battery compartment and extension battery compartment are connected through the joint cabin, are adjusted the relative position of two module cabins of connecting by the joint cabin.

The gripper tool cabin is used for shooting underwater videos and grabbing objects and comprises a gripper, a first camera, a first illuminating lamp, a gripper tool cabin shell and an end cover.

Furthermore, the number of the first cameras is 2, the first illuminating lamps are symmetrically distributed on two sides of the gripper, the number of the first illuminating lamps is 2, the first illuminating lamps are symmetrically distributed on two sides of the gripper, and a central connecting line of the first illuminating lamps is perpendicular to a central connecting line of the first cameras.

The mechanical wrench tool cabin is used for shooting underwater videos and tightness of bolts and comprises a mechanical wrench, a second camera, a second illuminating lamp, a mechanical wrench tool cabin shell and an end cover.

Furthermore, the number of the second cameras is 2, the second cameras are symmetrically distributed on two sides of the mechanical wrench, the number of the second illuminating lamps is 2, the second illuminating lamps are symmetrically distributed on two sides of the mechanical wrench, and a central connecting line of the second illuminating lamps is perpendicular to a central connecting line of the second cameras.

Further, the first camera and the second camera are used for collecting underwater videos and underwater visual navigation, the first illuminating lamp and the second illuminating lamp are used for providing illumination for an underwater environment, and the mechanical claw tool compartment shell and the mechanical wrench tool compartment shell are used for protecting components in the compartment.

Further, the end covers in the mechanical claw tool compartment and the mechanical wrench tool compartment are arranged on the back surfaces of the mechanical claw and the mechanical wrench.

The utility model discloses a power cabin, including the power cabin stack shell, the power cabin is used for carrying out complicated operation and motion control, promotes robot's motion simultaneously, including the power cabin stack shell, the both ends of power cabin stack shell are equipped with the end cover, the outside of power cabin stack shell is equipped with antenna, first propeller and second propeller, the inside of power cabin stack shell is equipped with the power cabin support, the power cabin support is used for supporting the inner structure of power cabin and is used for each inside component of fixed power cabin, the power cabin support passes through the flange and is connected with the end cover, be equipped with debugging module, single-board computer, serial ports extension module, weight plate, motion control module and USB extension module on the power cabin support.

Furthermore, the quantity of first propeller is 2, divides the horizontal both sides of locating the piggyback pod stack body, and the direction of propulsion of 2 first propellers is unanimous and the direction of propulsion is perpendicular with the piggyback pod stack body, the upper and lower both sides of keeping away from first propeller on the piggyback pod stack body are divided to the second propeller, the direction of propulsion mutually perpendicular and the angle of propelling direction and piggyback pod stack body separately of second propeller are 45 degrees.

Further, the antenna is used for communicating the robot body with the outside; the debugging module is connected with the single-board computer and the external computer and is used for debugging programs; the single board computer is used for calculating the complex data; the serial port expansion module is used for subsequently expanding serial port instrument equipment, and a certain number of interfaces are reserved; the number of the counterweight plates is 2, and the counterweight plates are symmetrically fixed on the power cabin bracket and used for adjusting the self weight of the robot body; the motion control module is provided with a set of pose sensing system, and is used for resolving the pose of the robot body and controlling the motion of the robot body; the USB expansion module is used for instrument equipment for subsequently expanding the USB interfaces, and a certain number of interfaces are reserved.

The battery compartment is used for supplying power for the whole robot body, and comprises a battery compartment barrel body, wherein end covers are arranged at two ends of the battery compartment barrel body, an internal battery compartment support of the battery compartment barrel body is used for supporting the internal structure of the battery compartment and fixing each element inside the battery compartment, the battery compartment support is connected with the end covers through flanges, and a battery wiring terminal, a power supply management module, a battery, a charging management module and a charging coil are arranged on the battery compartment support.

Furthermore, the power supply management module is used for regulating and outputting direct-current voltage and respectively supplying power to various electric equipment of the robot body; the charging management module is used for managing and controlling the charging of the battery; the quantity of charging coil is 2, is located the both ends in battery compartment respectively for carry out the magnetic coupling with external charging coil, thereby cooperation charge management module realizes the wireless charging to the battery.

The extension battery compartment is used for increasing continuation of the journey for the robot body, including extension battery compartment stack shell, extension battery compartment stack shell is used for the interior component of protection cabin, the both ends of extension battery compartment stack shell are equipped with the end cover, the inside of extension battery compartment stack shell is equipped with extension battery compartment support, extension battery compartment support is used for supporting the inner structure of extension battery compartment and is used for each component of fixed extension battery compartment inside, extension battery compartment support passes through the flange and is connected with the end cover, be equipped with the battery on the extension battery compartment support.

The joint cabin comprises a corrugated pipe, the corrugated pipe is used for protecting elements in the cabin and can be bent within a certain range, end covers are arranged at two ends of the corrugated pipe, the corrugated pipe is connected with the end covers through flanges, and a steering engine is arranged inside the corrugated pipe.

The end cover is used for being connected with other module cabins, the center of the end cover is provided with a wiring hole, and a watertight wiring terminal is arranged in the wiring hole and used for power supply and communication.

The robot body is provided with three main programs and a sub program capable of being called for control during operation, wherein the three main programs comprise a task execution program, a self electric quantity monitoring and processing program and a self fault monitoring and processing program; the called subprogram is a return program and can be called by a self electric quantity monitoring and processing program and a self fault monitoring and processing program.

Compared with the prior art, the invention has the following beneficial effects:

1. compared with the traditional single underwater robot, the invention connects other module cabins by arranging the bendable and slender joint cabin, thereby improving the motion flexibility and the trafficability of the underwater robot.

2. Compared with the traditional single underwater robot, the multifunctional underwater robot is formed by mutually connecting module cabins with multiple functions, the module cabins with different functions can be increased or decreased according to needs, the task can be quickly switched under different task scenes, and the multifunctional underwater robot has higher universality.

3. Compared with the traditional autonomous underwater robot, the underwater robot has the advantage that the robot body has certain underwater operation capacity by arranging the mechanical claw tool cabin and the mechanical wrench tool cabin.

4. Compared with a bionic robot which is driven by a bionic mode, the underwater robot has better controllability and stability during underwater operation due to the fact that the underwater robot is integrated with a traditional propeller driving mode.

5. The underwater robot has a plurality of power cabins, and a plurality of groups of propellers are highly redundant to the whole robot, so that actions with higher complexity can be completed.

6. The underwater robot is provided with the charging coil in the battery cabin, has a wireless charging function, and enables the robot body to have the capability of residing underwater.

Drawings

FIG. 1 is a schematic structural diagram of a robot body with three versions according to the present invention;

FIG. 2 is a schematic structural diagram of a robot body in five versions according to the present invention;

FIG. 3 is a schematic view of the front structural configuration of the gripper tool bay of the present invention;

FIG. 4 is a schematic view of the reverse structural configuration of the gripper tool bay of the present invention;

FIG. 5 is a schematic view of the front structure of the tool compartment of the mechanical wrench according to the present invention;

FIG. 6 is a schematic view of the reverse structural configuration of the tool compartment of the mechanical wrench of the present invention;

FIG. 7 is a schematic view of the external structure of the power compartment of the present invention;

FIG. 8 is a schematic view of the internal top structure of the power pod of the present invention;

FIG. 9 is a schematic view of the bottom structure inside the power compartment according to the present invention;

FIG. 10 is a schematic view showing the external structure of the battery compartment according to the present invention;

FIG. 11 is a schematic view of the internal structure of the battery compartment according to the present invention;

FIG. 12 is a schematic view of the structural components of the extended battery compartment of the present invention;

FIG. 13 is an exploded view of the joint capsule structure of the present invention;

FIG. 14 is a connection diagram of the components of the robot body according to the three-level version of the present invention;

FIG. 15 is a connection diagram of the components of a robot body according to five versions of the present invention;

FIG. 16 is a diagram showing the connection relationship between components in a debugging state of a robot body according to five versions of the present invention;

FIG. 17 is a flow chart illustrating a self-power monitoring and processing procedure according to the present invention;

FIG. 18 is a flowchart of a task program according to the present invention;

FIG. 19 is a flow chart illustrating a self-fault monitoring and processing procedure of the present invention;

FIG. 20 is a flow chart illustrating a return trip procedure according to the present invention.

Reference numerals:

1-gripper tool compartment; 1-1-gripper; 1-2-a first camera; 1-3-a first light; 1-4-gripper tool compartment housing; 2-a power cabin; 2-2-power cabin barrel body; 2-3-a first propeller; 2-4-a second propeller; 2-6-power compartment support; 2-7-debugging module; 2-8-single board computer; 2-9-serial port expansion module; 2-10-counterweight plate; 2-11-a motion control module; 2-12 USB-extension module; 2-13-antenna; 3-a joint cabin; 3-3-bellows; 3-4-steering engine; 4-a battery compartment; 4-2-a battery compartment barrel body; 4-4-battery compartment support; 4-5-battery terminals; 4-6-a power supply management module; 4-8-a charge management module; 4-9-a charging coil; 5-mechanical wrench tool compartment; 5-1-mechanical wrench; 5-2-a second camera; 5-3-a second lighting lamp; 5-4-mechanical wrench tool compartment housing; 6-expanding the battery compartment; 6-2-expanding the battery compartment barrel body; 6-4-expanding the battery compartment support; 7-end cap; 8-wiring holes; 9-a flange; 10-battery.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

Example one

The utility model provides a little operation modularization of snake eel shape is autonomic fortune dimension robot under water, including the robot, the robot includes multiple module cabin, the module cabin passes through bolt reciprocal anchorage, the type in module cabin includes gripper tool cabin 1, mechanical wrench tool cabin 5, the piggyback pod 2, the battery compartment 4, extension battery compartment 6 and joint cabin 3, gripper tool cabin 1 and mechanical wrench tool cabin 5 branch are located the robot both ends, the piggyback pod 2, battery compartment 4 and extension battery cabin 6 locate between gripper tool cabin 1 and mechanical wrench tool cabin 5, connect through joint cabin 3, adjust the relative position of two module cabins of connecting by joint cabin 3.

In this embodiment, as shown in fig. 1, the robot body is specifically a three-section version, and the module cabin is a mechanical claw tool cabin 1, a power cabin 2, a joint cabin 3, a battery cabin 4, a joint cabin 3, a power cabin 2, and a mechanical wrench tool cabin 5 in sequence.

As shown in fig. 3 and 4, the gripper tool compartment 1 is used for shooting underwater videos and grabbing objects and comprises a gripper 1-1, a first camera 1-2, a first illuminating lamp 1-3, a gripper tool compartment shell 1-4 and an end cover 7.

The number of the first cameras 1-2 is 2, the first illuminating lamps 1-3 are symmetrically distributed on two sides of the mechanical claw 1-1, the number of the first illuminating lamps 1-3 is 2, the first illuminating lamps 1-3 are symmetrically distributed on two sides of the mechanical claw 1-1, and a central connecting line of the first illuminating lamps 1-3 is perpendicular to a central connecting line of the first cameras 1-2.

As shown in figures 5 and 6, the mechanical wrench tool compartment 5 is used for shooting underwater videos and tightness of bolts and comprises a mechanical wrench 5-1, a second camera 5-2, a second illuminating lamp 5-3, a mechanical wrench tool compartment shell 5-4 and an end cover 7.

The number of the second cameras 5-2 is 2, the second cameras are symmetrically distributed on two sides of the mechanical wrench 5-1, the number of the second illuminating lamps 5-3 is 2, the second illuminating lamps are symmetrically distributed on two sides of the mechanical wrench 5-1, and a central connecting line of the second illuminating lamps 5-3 is perpendicular to a central connecting line of the second cameras 5-2.

The first camera 1-2 and the second camera 5-2 are used for collecting underwater videos and underwater visual navigation, the first illuminating lamp 1-3 and the second illuminating lamp 5-3 are used for providing illumination for an underwater environment, and the mechanical claw tool compartment shell 1-4 and the mechanical wrench tool compartment shell 5-4 are used for protecting components in the compartment.

The end covers 7 in the mechanical claw tool cabin 1 and the mechanical wrench tool cabin 5 are arranged on the back surfaces of the mechanical claw 1-1 and the mechanical wrench 5-1.

As shown in figures 8 and 9, the power cabin 2 is used for performing complex operation and motion control and simultaneously pushing the motion of the robot and comprises a power cabin barrel 2-2, two ends of the power cabin barrel 2-2 are provided with end covers 7, the outer side of the power cabin barrel 2-2 is provided with an antenna 2-13, a first propeller 2-3 and a second propeller 2-4, the power cabin barrel 2-2 is internally provided with a power cabin bracket 2-6, the power cabin bracket 2-6 is used for supporting the internal structure of the power cabin 2 and fixing each element inside the power cabin 2, the power cabin bracket 2-6 is connected with the end covers 7 through flanges 9, the bottom surfaces of the flanges 9 are respectively connected with the end covers 7 at the two ends through bolts, the other ends of the flanges 9 are embedded into the power cabin barrel 2-2, the power cabin bracket 2-6 is provided with debugging modules 2-7, a debugging module 2-7, 2-8 parts of single board computer, 2-9 parts of serial port expansion module, 2-10 parts of counterweight plate, 2-11 parts of motion control module and 2-12 parts of USB expansion module.

As shown in fig. 7, the number of the first propellers 2-3 is 2, the first propellers are respectively arranged at two horizontal sides of the power cabin barrel 2-2, the propelling directions of the 2 first propellers 2-3 are consistent and are vertical to the power cabin barrel 2-2, the second propellers 2-4 are respectively arranged at the upper side and the lower side of the power cabin barrel 2-2 far away from the first propellers 2-3, the propelling directions of the second propellers 2-4 are mutually vertical, and the angles between the respective propelling directions and the power cabin barrel 2-2 are both 45 degrees.

The antennas 2-13 are used for the communication between the robot body and the outside; the debugging module 2-7 is connected with the single board computer 2-8 and an external computer, and programs are debugged in a laboratory environment; the single board computer 2-8 is used for calculating complex data, and in the embodiment, is used for performing machine vision related calculation analysis on data transmitted back by the first camera 1-2 and the second camera 5-2; the serial port expansion module 2-9 is used for subsequently expanding serial port instrument equipment, and a certain number of interfaces are reserved; the number of the counterweight plates 2-10 is 2, and the counterweight plates are symmetrically fixed on the power cabin bracket 2-6 and used for adjusting the self weight of the robot body; the motion control modules 2 to 11 are provided with a set of pose sensing systems for the pose calculation of the robot body and the motion control of the robot body; the USB expansion modules 2-12 are used for instrument equipment for subsequently expanding the USB interfaces, and a certain number of interfaces are reserved.

As shown in fig. 10 and 11, the battery compartment 4 is used for supplying power to the whole robot body and includes a battery compartment barrel 4-2, two ends of the battery compartment barrel 4-2 are provided with end covers 7, internal battery compartment supports 4-4 of the battery compartment barrel 4-2, the battery compartment supports 4-4 are used for supporting the internal structure of the battery compartment 4 and fixing each element inside the battery compartment 4, the battery compartment supports 4-4 are connected with the end covers 7 through flanges 9, the bottom surfaces of the flanges 9 are respectively connected with the end covers 7 at the two ends through bolts, the other ends of the flanges 9 are embedded into the battery compartment barrel 4-2, and the battery compartment supports 4-4 are provided with battery terminals 4-5, a power supply management module 4-6, batteries 10, a charging management module 4-8 and a charging coil 4-9.

The power supply management modules 4-6 are used for regulating and outputting direct-current voltage and respectively supplying power to various electric equipment of the robot body; the charging management module 4-8 is used for managing and controlling the charging of the battery 10; the quantity of charging coil 4-9 is 2, is located the both ends of battery compartment 4 respectively for carry out the magnetic coupling with external charging coil, thereby the cooperation management module that charges realizes the wireless charging to battery 10.

As shown in fig. 12, the extended battery compartment 6 is used for increasing endurance for the robot body, and includes an extended battery compartment barrel 6-2, the extended battery compartment barrel 6-2 is used for protecting components in the compartment, end covers 7 are disposed at two ends of the extended battery compartment barrel 6-2, an extended battery compartment support 6-4 is disposed inside the extended battery compartment barrel 6-2, the extended battery compartment support 6-4 is connected with the end covers 7 through flanges 9, the bottom surfaces of the flanges 9 are respectively connected with the end covers 7 at the two ends through bolts, the other end of the flange 9 is embedded into the extended battery compartment barrel 6-2, a battery 10 is disposed on the extended battery compartment support 6-4, the extended battery compartment support 6-4 is used for supporting the internal structure of the extended battery compartment 6 and fixing each component inside the extended battery compartment 6, and the battery 10 is used for extending electric energy for operation of the robot body.

As shown in fig. 13, the joint cabin 3 includes corrugated pipes 3-3, the corrugated pipes 3-3 are used for protecting components in the cabin and can be bent within a certain range, end covers 7 are arranged at two ends of the corrugated pipes 3-3, the corrugated pipes 3-3 are connected with the end covers 7 through flanges 9, bottom surfaces of the flanges 9 are respectively connected with the end covers 7 at the two ends through bolts, the other ends of the flanges 9 are connected with the corrugated pipes 3-3, steering gears 3-4 are arranged inside the corrugated pipes 3-3, in the embodiment, the number of the steering gears 3-4 is 2, the 2 steering gears 3-4 are mutually perpendicularly and orthogonally connected, and the mutual matching enables the joint cabin 3 to be bent at each angle.

The end cover 7 is used for being connected with other module cabins, the center of the end cover 7 is provided with wiring holes 8, the number of the wiring holes 8 is 4 in the embodiment, watertight wiring terminals are arranged in the wiring holes 8 and used for power supply and communication, and power lines and communication lines penetrate through the four wiring holes 8 on the end cover 7 through the watertight wiring terminals to be connected.

Fig. 14 shows a connection relationship diagram of each component of the three-section version robot body. In the electrical connection, the three-version robot body is provided with a rechargeable battery 17, when the robot runs, electric energy firstly flows through the power supply management module 4-6, then the power supply management module 4-6 supplies power to each electric component of the robot respectively, the electric components comprise a mechanical claw 1-1, a mechanical wrench 5-1, a steering engine 3-4 of the joint cabin 3, a first propeller 2-3, a second propeller 2-4 and a motion control module 2-11, the system comprises a single-board computer 2-8, a first camera 1-2, a second camera 5-2, a first illuminating lamp 1-3, a second illuminating lamp 5-3, an antenna 2-13, a USB expansion module 2-12 and a serial port expansion module 2-9, wherein a depth meter and an inertia measurement unit are arranged in a motion control module 2-11; when the robot body is charged, electric energy is transmitted to the charging management module 4-8 through the charging coil 4-9, then the charging management module 4-8 is responsible for charging the rechargeable battery 17, and meanwhile the power supply management module 4-6 stops supplying power to each electric component. On the communication connection, the motion control module 2-11 is respectively connected with the mechanical claw 1-1, the mechanical wrench 5-1, the steering engine 3-4, the first propeller 2-3 and the second propeller 2-4 in a one-way manner to realize the control of the mechanical claw 1-1, the mechanical wrench 5-1, the steering engine 3-4, the first propeller 2-3 and the second propeller 2-4, and meanwhile, the motion control module 2-11 is also connected with the single-board computer 2-8 to perform two-way communication; the single board computers 2 to 8 are respectively connected with the charging management modules 4 to 8 and the power supply management modules 4 to 6 in a bidirectional way, so that on one hand, the single board computers can receive battery related information returned by the charging management modules and the power supply management modules, and on the other hand, the single board computers can also send instructions to the charging management modules and the power supply management modules for configuration; the single board computers 2-8 are respectively connected with the debugging modules 2-7, the serial port expansion modules 2-9 and the USB expansion modules 2-12 in a bidirectional way and can mutually transmit information; the single board computer 2-8 is bidirectionally connected with the first camera 1-2 and the second camera 5-2, on one hand, receives the image information returned by the first camera 1-2 and the second camera 5-2, and on the other hand, controls the first camera 1-2 and the second camera 5-2; the single board computer 2-8 is connected with the antenna 2-13 in a bidirectional way, and mutually transmits information to realize the communication to the outside; the single-board computer 2-8 is connected with the first illuminating lamp 1-3 and the second illuminating lamp 5-3 in a one-way mode, and the single-board computer 2-8 controls the first illuminating lamp 1-3 and the second illuminating lamp 5-3 to be turned on and off.

The robot body is provided with three main programs and a sub program capable of being called for control when in operation, wherein the three main programs comprise a task execution program, a self electric quantity monitoring and processing program and a self fault monitoring and processing program; the called subprogram is specifically a return flight program and can be called by a self electric quantity monitoring and processing program and a self fault monitoring and processing program.

In this embodiment, a flowchart of a task program executed by the robot main body is shown in fig. 17. In a task, firstly, the single board computer 2-8 carries out self-checking on the robot body, judges whether each function of the robot body is normal, if not, sends a signal to a docking station through the antenna 2-13 to report the problem, then finishes running, if normal, firstly, the motion control module 2-11 controls the first propeller 2-3 and the second propeller 2-4 to realize the warehouse-out of the robot body, and then sails to an operation area through the modes of antenna positioning and underwater vision navigation. After the underwater facility inspection system arrives at an operation area, the robot body starts to inspect the underwater facility, if no problem is found, the inspection of the underwater facility is continued, if the problem is found, the signal report problem is firstly sent to the docking station through the antennas 2-13, then whether the robot body can solve the problem through a carried tool is judged, if the problem can be solved, a maintenance task is executed, after the problem is solved, the signal report condition of the problem is sent to the docking station, then the inspection of the underwater facility is returned to be continued, if the problem cannot be solved, the signal report condition of the problem is also sent to the docking station, and then the inspection of the underwater facility is returned to be continued.

In this embodiment, a flowchart of a process for performing self-power monitoring and processing by the robot body is shown in fig. 18.

In a task, the self-power monitoring and processing program is always in a running state, firstly, the single board computer 2-8 updates the power threshold value required for return voyage through the distance which is traveled and the consumed power, then judges whether the residual power of the battery 17 reaches the threshold value, if not, the power of the battery is still sufficient, return voyage is not required, and the threshold value of the power required for return voyage is continuously returned, if the threshold value is reached, the power of the battery is not enough to continuously execute the task, and only the power of the battery is enough to return voyage of the robot body, and then the return voyage program is executed.

In this embodiment, a flowchart of the robot body executing the self fault monitoring and processing procedure is shown in fig. 19. In a task, a self fault monitoring and processing program is always in an operating state, firstly, single-board computers 2-8 carry out self fault detection on the robot, then, whether the robot body has a fault is judged, and if the robot body does not have the fault, the self fault detection of the robot is continuously carried out; if a fault occurs, firstly sending a signal to a docking station through an antenna 2-13 to report the fault problem, then judging the fault problem of the robot body, and if the navigation system and the driving system do not have the fault and only parts such as a mechanical claw 1-1, a mechanical wrench 5-1 and the like have the fault, executing a return flight program; if any one of the navigation system and the driving system has a fault and does not support return voyage, the robot body starts to periodically send out distress signals until the electric quantity is exhausted, and waits for external rescue.

The executive task program, the self-electric quantity monitoring and processing program and the self-fault monitoring and processing program are distributed by the CPU inner core of the single board computer 2-8 to run at the same time.

In this embodiment, a flowchart of the robot body executing the back-navigation procedure is shown in fig. 20. The return flight program is used as a subprogram called by other programs, in the process of one execution, firstly, the robot navigates to a docking station in a mode of antenna positioning and underwater visual navigation, then a motion control module 2-11 controls a propeller to realize the warehouse entry of the robot body, after the warehouse entry, the robot wirelessly charges through a charging coil 4-9, meanwhile, a navigation log of the task is uploaded through an antenna 2-13, and then whether the rechargeable battery 17 is fully charged is judged, if so, the program is ended; and if the battery is not fully charged, continuously judging whether the battery is fully charged or not until the battery is fully charged.

Example two

In this embodiment, the robot body expansion cavity is formed by adding two expansion battery compartments 6 and two joint compartments 3 on the basis of the robot body with the three versions shown in fig. 1, the connection relationship is shown in fig. 2, the robot is a snake eel-shaped light operation modular underwater autonomous operation and maintenance robot with the five versions, and the robot comprises a mechanical claw tool compartment 1, an expansion battery compartment 6, a joint compartment 3, a power compartment 2, a joint compartment 3, a battery compartment 4, a joint compartment 3, a power compartment 2, a joint compartment 3, an expansion battery compartment 6 and a mechanical wrench tool compartment 5 which are connected in sequence.

A connection relation diagram of each component of the robot body with five versions is shown in fig. 15. Because the robot body of the five-section version is added with the two extended battery cabins 6, the robot body is different from the robot body of the three-section version in that the number of the rechargeable batteries 17 of the robot body of the five-section version is increased to 5, and the 5 rechargeable batteries 17 are also uniformly managed by the power supply management system 4-6 and the charging management system 4-8.

In this example. The robot body can be debugged, and a connection relation diagram of each component in a specific debugging state is shown in fig. 16. And in electrical connection, an external power supply is connected with the debugging modules 2-7, the debugging modules 2-7 are connected with the power supply management modules 4-6, electric energy is transmitted to the power supply management modules 4-6 through the debugging modules 2-7 by the external power supply, and the power supply management modules 4-6 respectively supply power to all power utilization components of the robot body. On the communication connection, the computer is bidirectionally connected with the debugging module 2-7, and the debugging module 2-7 is bidirectionally connected with the single board computer 2-8, so that the bidirectional communication between the computer and the single board computer 2-8 in the robot is established, and the debugging function is realized.

The rest is the same as the first embodiment.

In addition, it should be noted that the specific embodiments described in the present specification may have different names, and the above descriptions in the present specification are only illustrations of the structures of the present invention. All equivalent or simple changes in the structure, characteristics and principles of the invention are included in the protection scope of the invention. Various modifications or additions may be made to the described embodiments or methods may be similarly employed by those skilled in the art without departing from the scope of the invention as defined in the appending claims.

Claims (10)

1. The utility model provides a little operation modularization of snake eel shape is autonomic fortune dimension robot under water, includes robot, its characterized in that, robot includes multiple module cabin, the module cabin passes through bolt reciprocal anchorage, the type of module cabin includes gripper tool cabin (1), mechanical wrench tool cabin (5), engine compartment (2), battery cabin (4), extension battery cabin (6) and joint cabin (3), gripper tool cabin (1) and mechanical wrench tool cabin (5) branch are located robot both ends, between gripper tool cabin (1) and mechanical wrench tool cabin (5) are located to engine compartment (2), battery cabin (4) and extension battery cabin (6), connect through joint cabin (3), adjust the relative position of two module cabins of connecting by joint cabin (3).

2. The modular autonomous underwater operation and maintenance robot with snake eel-shaped light operation is characterized in that the mechanical claw tool cabin (1) comprises a mechanical claw (1-1), a first camera (1-2), a first illuminating lamp (1-3), a mechanical claw tool cabin shell (1-4) and an end cover (7).

3. The modular underwater autonomous operation and maintenance robot with the snake eel-shaped light operation function as claimed in claim 2, wherein the number of the first cameras (1-2) is 2, the first cameras are symmetrically distributed on two sides of the gripper (1-1), the number of the first illuminating lamps (1-3) is 2, the first illuminating lamps are symmetrically distributed on two sides of the gripper (1-1), and a central connecting line of the first illuminating lamps (1-3) is perpendicular to a central connecting line of the first cameras (1-2).

4. The modular autonomous underwater operation and maintenance robot with light snake eel shape as claimed in claim 1, wherein the mechanical wrench tool compartment (5) comprises a mechanical wrench (5-1), a second camera (5-2), a second lighting lamp (5-3), a mechanical wrench tool compartment housing (5-4) and an end cover (7).

5. The modular underwater autonomous operation and maintenance robot with the snake eel-shaped light operation function as claimed in claim 4, wherein the number of the second cameras (5-2) is 2, the second cameras are symmetrically distributed on two sides of the mechanical wrench (5-1), the number of the second illuminating lamps (5-3) is 2, the second illuminating lamps are symmetrically distributed on two sides of the mechanical wrench (5-1), and a central connecting line of the second illuminating lamps (5-3) is perpendicular to a central connecting line of the second cameras (5-2).

6. The modular underwater autonomous operation and maintenance robot for the light operation of the snakes and eels as claimed in claim 1, wherein the power cabin (2) comprises a power cabin barrel body (2-2), end covers (7) are arranged at two ends of the power cabin barrel body (2-2), an antenna (2-13), a first propeller (2-3) and a second propeller (2-4) are arranged on the outer side of the power cabin barrel body (2-2), a power cabin bracket (2-6) is arranged inside the power cabin barrel body (2-2), the power cabin bracket (2-6) is connected with the end covers (7) through flanges (9), and a debugging module (2-7), a single board computer (2-8) and a serial port expansion module (2-9) are arranged on the power cabin bracket (2-6), A weight plate (2-10), a motion control module (2-11) and a USB expansion module (2-12).

7. The modular underwater autonomous operation and maintenance robot with the snake eel-shaped light operation function as claimed in claim 6, wherein the number of the first propellers (2-3) is 2, the first propellers are respectively arranged at two horizontal sides of the power cabin barrel body (2-2), the propulsion directions of the 2 first propellers (2-3) are consistent and are perpendicular to the power cabin barrel body (2-2), the second propellers (2-4) are respectively arranged at the upper side and the lower side of the power cabin barrel body (2-2) far away from the first propellers (2-3), the propulsion directions of the second propellers (2-4) are mutually perpendicular, and the angles between the respective propulsion directions and the power cabin barrel body (2-2) are 45 degrees.

8. The autonomous underwater operation and maintenance robot with the snake eel-shaped light work modules is characterized in that the battery compartment (4) comprises a battery compartment barrel (4-2), end covers (7) are arranged at two ends of the battery compartment barrel (4-2), an internal battery compartment support (4-4) of the battery compartment barrel (4-2), the battery compartment support (4-4) is connected with the end covers (7) through flanges (9), and a battery wiring terminal (4-5), a power supply management module (4-6), a battery (10), a charging management module (4-8) and a charging coil (4-9) are arranged on the battery compartment support (4-4).

9. The autonomous underwater operation and maintenance robot with the snake eel-shaped light operation module is characterized in that the expansion battery compartment (6) comprises an expansion battery compartment barrel body (6-2), end covers (7) are arranged at two ends of the expansion battery compartment barrel body (6-2), an expansion battery compartment support (6-4) is arranged inside the expansion battery compartment barrel body (6-2), the expansion battery compartment support (6-4) is connected with the end covers (7) through flanges (9), and batteries (10) are arranged on the expansion battery compartment support (6-4).

10. The modular underwater autonomous operation and maintenance robot with the light snake eel shape operation as claimed in claim 1, wherein the joint cabin (3) comprises a corrugated pipe (3-3), end covers (7) are arranged at two ends of the corrugated pipe (3-3), the corrugated pipe (3-3) is connected with the end covers (7) through flanges (9), and a steering engine (3-4) is arranged inside the corrugated pipe (3-3).

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