水下智能救捞机器人 / Underwater Intelligent Salvage ROV

设计概述

搜救机器人，主要应用于海洋、江河及湖泊内的搜救作业，前端搭载高清摄像机可实时反馈水域清况，照明灯可确保水下无光照处摄像机可正常观察，同时机器人可搭载多波束成像声呐，满足远距离目标搜寻，结合高清摄像机实现高效搜救作业。多波束成像声呐可视距离最大为 120m,最小 0.1m, 水下搜救作业进行时，可由多波束成像声呐预先锁定目标，机器入行驶至目标位附近，改由前视摄像机进一步识别前摄像机确认目标后，张开机械手对目标进行救援，下视镜头可监控整个救援过程。由机器人采集的数字信息可叠加于图像信息上同步保存，亦可选择性隐藏不叠加。

Design Overview

The search and rescue robot is mainly used in the search and rescue operations in the ocean, rivers and lakes. The front end is equipped with high-definition camera, which can feed back the clear water condition in real time. The lighting can ensure that the camera can observe the underwater without light. At the same time, the robot can carry multi beam imaging sonar to meet the long-distance target search. Combined with high-definition camera, it can realize efficient search and rescue operation. The maximum visual distance of multi beam imaging sonar

is 120m and the minimum is 0.1M. When the underwater search and rescue operation is carried out, the multi beam imaging sonar can lock the target in advance, and the machine will drive  near the target position. After the front camera confirms the target, open the manipulator to rescue the target, and the down looking lens can monitor the whole rescue process. The digital information collected by the robot can be superimposed on the image information for synchronous storage, and can be selectively hidden without superposition.

技术参数：Parameters

驱动系统:4 个无刷推进器，2 个水平推进器，2 个垂直升降推进器。

The driving system: 4 brushless thrusters, 2 horizontal thrusters, 2 vertical lifting thrusters.

观测系统:前 200 万定焦网络相机，最低照度 0.0011ux,声纳，图像同步扫描，云台转角+90°-60°

Inspection system:2 megapixel fixed focus network camera, minimum illuminance of 0.0011ux, sonar, image synchronous scanning, pan tilt angle + 90 ° - 60 °

照明系统:前端装有 2*50W LED,灯尾部 15W LED 灯。

Lighting system:2 * 50W LED light at front and 1*15W Led light at rear.

缆控系统:100m 中性光纤浮力电缆,可承受 200 公斤拉力，采用滑环卷线盘.

Cable control system:100m neutral optical fiber buoyancy cable , bear 200kg tension, slip ring reel;

甲板单元:I5 处理器，1T 硬盘，有视频叠加功能.

Deck unit: I5 processor, 1t hard disk, video overlay function.

作业能力:下潜深度 400m,航速水平 3 节，下潜 2 节.

Operating capacity: diving depth 400m, speed horizontal 3 knots, vertical 2 knots;

传感系统:三维电子罗盘，深度传感器，温度传感器.

Sensor system：Three dimensional electronic compass, depth sensor, temperature sensor;

履带底盘：行进速度：10m/min 可调，抗流：4 节，越障高度：50mm,爬坡角度：30°; Crawler chassis：speed 10 m / min adjustable, anti current: 4 knots, obstacle crossing height: 50 mm, climbing angle: 30 °;

履带机械手:机械手最大张开尺寸:200mm, 摆臂角+-30°,握合力:5kg,旋转角度：土 45°; Crawler manipulator ： The maximum opening size of the manipulator is 200mm, swing arm angle · +-30°, grip force: 5kg, rotation angle ：+- 45 °;

对合机械手：卡爪张开尺寸最大 550mm,最小 30mm,握合力 15kg,自锁力 50kg,具有握力保护功能，下视镜头配置，

Counter mainpulator: maximum open size 550mm , minimum 30mm , grip force is 15kg, self-locking force is 50kg. grip protection function, the configuration of the down view camera.

可扩展性:可扩展搭载避碰声呐，水下超短基线定位，前视扫描声呐、电位仪，水下探测传感器，多波段高度计。

Optional: carrying collision avoidance sonar, USBL, forward view scanning sonar, potentiometer, underwater detection sensor, multi band altimeter.