CN104843156A - Intelligent robot for salvaging underwater physical evidence - Google Patents
Intelligent robot for salvaging underwater physical evidence Download PDFInfo
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- CN104843156A CN104843156A CN201510265051.1A CN201510265051A CN104843156A CN 104843156 A CN104843156 A CN 104843156A CN 201510265051 A CN201510265051 A CN 201510265051A CN 104843156 A CN104843156 A CN 104843156A
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- manipulator
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- 230000033001 locomotion Effects 0.000 claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 34
- 239000000463 material Substances 0.000 claims description 22
- 230000007306 turnover Effects 0.000 claims description 9
- 238000005286 illumination Methods 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052782 aluminium Inorganic materials 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 claims description 2
- 239000004973 liquid crystal related substance Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 238000011840 criminal investigation Methods 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
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Abstract
The invention discloses an intelligent robot for salvaging underwater physical evidence, belonging to the technical field of criminal investigation. The intelligent robot for salvaging the underwater physical evidence mainly comprises a salvaging manipulator, a monitoring control box and a connecting cable, wherein the salvaging manipulator is mounted at the bottom of a whole device, the monitoring control box is connected with the salvaging manipulator by the connecting cable, and the salvaging manipulator comprises a lighting image pickup system, a horizontal movement propelling system, a movement direction control system and a manipulator gripping system. The underwater salvaging manipulator is used for looking for the physical evidence underwater and salvaging the physical evidence to be salvaged, thus improving the efficiency of salvaging the physical evidence underwater and further helping public security officers to improve the efficiency in a case solving process; besides, the structure is simple, and the operation is convenient.
Description
Technical field
Patent of the present invention discloses material evidence fishing robot under a kind of intelligent water, belongs to technique of criminal investigation field.
Background technology
Under intelligent water, material evidence fishing robot can be used for finding underwater various material evidence and salvage in time suspect being discarded in tool used in crime in water as cutter or other material evidence etc., and then helps public security officer to raise the efficiency in the process of clear up a criminal case.
Domestic produced underwater salvage manipulator is also not ideal at design aspect at present, also exists and operation under water freely and fast speed the series of problems such as can not to move, result in its under water operation time efficiency.Before the device side of fine, cost is very high on the other hand, should not promote on a large scale.This device complies with the market demand, can very perfectly address this problem, thus support personnel's safety.
Summary of the invention
Given this, the object of this invention is to provide material evidence fishing robot under a kind of intelligent water, underwater salvage manipulator is utilized to carry out the search of material evidence under water, and salvaged needing the material evidence salvaged by manipulator, improve the salvaging efficiency to material evidence in water, and then help public security officer to raise the efficiency in the process of clear up a criminal case., and structure is simple, easy to operate.
For achieving the above object, the technical solution used in the present invention is:
Material evidence fishing robot under a kind of intelligent water, under described intelligent water, material evidence fishing robot mainly comprises salvaging manipulator 1, Monitor and Control case 2 and connection cable 3, wherein, salvage the bottom that manipulator 1 is arranged on whole device, Monitor and Control case 2 is connected with salvaging manipulator 1 by connection cable 3, salvages manipulator 1 and comprises lighting video photographic system 4, parallel motion propulsion system 5, moving direction control system 6 and manipulator grasping system 7.
As the further scheme of the present invention, described lighting video photographic system 4 is positioned at the bottom of salvaging manipulator 1, be made up of two LED illumination lamp 9 and a camera 8, wherein two LED illumination lamp can master cock and brightness separately, conveniently changes according to surrounding environment change when searching.
As the further scheme of the present invention, described parallel motion propulsion system 5 is by propelling unit motor 10, propelling unit steering shaft 11 and screw propeller 12 form, screw propeller 12 is arranged on the below of parallel motion propulsion system 5, by its power providing level to advance that moves, propelling unit steering shaft 11 is arranged on the top of screw propeller 12, the sense of motion of screw propeller 12 is controlled by it, propelling unit motor 10 is arranged on the top of system, by it for system provides power resources, propelling unit motor 10 controls to be regulated by rotating and speed, thus realization salvaging manipulator 1 seesaws with different speed.
As the further scheme of the present invention, described moving direction control system 6 is by swing pinion 13, turn to position-sensing switch 14, propelling unit course changing control motor 15 and turnover water channel filter screen 16 form, swing pinion 13 and propelling unit course changing control motor 15 mesh together, by the rotation of propelling unit course changing control motor 15 driven rotary gear 13, position-sensing switch 14 is turned to be arranged on the side of system, by its control system and end, turnover water channel filter screen 16 is arranged on the lower inside of moving direction control system 6, the water of turnover is filtered by it, utilize the rotating of propelling unit course changing control motor 15 can realize salvaging manipulator 1 moving forward and backward point-blank, angle of rake turning to adopts propelling unit course changing control motor 15 to control, propelling unit assembly is driven to rotate with swing pinion 13 transmission, the anglec of rotation is controlled with turning to position-sensing switch 14.
As the further scheme of the present invention, described manipulator grasping system 7 is by manipulator motor 17, machinery is collected paw 18 and machinery and is stretched out paw 19 and form, manipulator motor 17 is arranged on the top of manipulator grasping system 7, paw 18 collected by machinery and machinery stretches out the below that paw 19 is arranged on system, manipulator grasping system 7 is provided with two cover manipulators can separate the catching robot controlled separately, control machinery by manipulator motor 17 to collect the folding that paw 18 and machinery stretches out paw 19 and capture object, machinery is collected paw 18 and machinery and is stretched out the barb that paw 19 is provided with difficult drop-off when making paw catch object.
As the further scheme of the present invention, the shell of described Monitor and Control case 2 adopts vibrationproof aluminium case, and inside is provided with 8 cun of high-resolution chromatic liquid crystal screens, control button and storage batterys.
As the further scheme of the present invention, propulsion system is designed to by described moving direction control system can 90-degree rotation, and realization can move forward and backward in the perpendicular direction.
beneficial effect of the present invention is:
The present invention controls the motion of underwater manipulator in water by the handle of Monitor and Control case, and by being arranged on the situation that submarine mechanical camera system is on hand come under picked up water, then timely image information is under water sent to above the high-clear display in Monitor and Control case by cable, operator controls the underwater motion of manipulator by the situation of observing on picture, and then finds exhibit and picked up by exhibit.
Accompanying drawing explanation
Fig. 1 is the integral structure figure of material evidence fishing robot under a kind of intelligent water of the present invention;
Fig. 2 is the front view of underwater salvage manipulator of the present invention;
Fig. 3 is the lateral plan of underwater salvage manipulator of the present invention;
Fig. 4 is the constructional drawing of the lighting video photographic system of underwater salvage manipulator of the present invention;
Fig. 5 is the constructional drawing of the parallel motion propulsion system of underwater salvage manipulator of the present invention;
Fig. 6 is the constructional drawing of the moving direction control system of underwater salvage manipulator of the present invention;
Fig. 7 is the constructional drawing of the manipulator grasping system of underwater salvage manipulator of the present invention.
Wherein, 1-underwater salvage manipulator, 2-Monitor and Control case, 3-connection cable, 4-lighting video photographic system, 5-parallel motion propulsion system, 6-moving direction control system, 7-manipulator grasping system, 8-camera, 9-LED illuminating lamp, 10-propelling unit motor, 11-propelling unit steering shaft, 12-screw propeller, 13-swing pinion, 14-turns to position-sensing switch, 15-propelling unit course changing control motor, and 16-passes in and out water channel filter screen, 17-manipulator motor, paw collected by 18-machinery, and 19-machinery reaches and grabs.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, under the present invention proposes a kind of intelligent water, material evidence fishing robot comprises part compositions such as salvaging manipulator 1, Monitor and Control case 2, connection cable 3.Wherein salvage the bottom that manipulator 1 is arranged on whole device, Monitor and Control case 2 is connected with salvaging manipulator 1 by connection cable 3.
As Figure 2-3, key component underwater salvage manipulator is made up of lighting video photographic system 4, parallel motion propulsion system 5, moving direction control system 6, manipulator grasping system 7 four part, during use, underwater manipulator is connected with monitoring device waterborne by cable, pass back in real time and search picture under water, when finding suspicious item, manipulator can be manipulated and capture.
As shown in Figure 4, lighting video photographic system is positioned at the bottom of equipment, is made up of two LED illumination lamp 9 and a camera 8, and wherein two LED illumination lamp can master cock and brightness separately, conveniently changes according to surrounding environment change when searching.
As shown in Figure 5, parallel motion propulsion system 5 is by propelling unit motor 10, propelling unit steering shaft 11 and screw propeller 12 form, screw propeller 12 is arranged on the below of parallel motion propulsion system 5, by its power providing level to advance that moves, propelling unit steering shaft 11 is arranged on the top of screw propeller 12, the sense of motion of screw propeller 12 is controlled by it, propelling unit motor 10 is arranged on the top of system, by it for system provides power resources, propelling unit motor 10 controls to be regulated by rotating and speed, thus realization salvaging manipulator 1 seesaws with different speed, the movement of underwater manipulator in water controls primarily of cable, when finding suspicious item under water, for making manipulator can accurately near suspicious item, pull with hand cable to control often to be difficult to operation, therefore horizontal motion propulsion system is designed with at the middle part of manipulator, propelling unit electric machine control can realize rotating and speed regulates, thus realize manipulator and can seesaw with different speed.
As shown in Figure 6, moving direction control system 6 is by swing pinion 13, turn to position-sensing switch 14, propelling unit course changing control motor 15 and turnover water channel filter screen 16 form, swing pinion 13 and propelling unit course changing control motor 15 mesh together, by the rotation of propelling unit course changing control motor 15 driven rotary gear 13, position-sensing switch 14 is turned to be arranged on the side of system, by its control system and end, turnover water channel filter screen 16 is arranged on the lower inside of moving direction control system 6, the water of turnover is filtered by it, utilize the rotating of propelling unit course changing control motor 15 can realize salvaging manipulator 1 moving forward and backward point-blank, angle of rake turning to adopts propelling unit course changing control motor 15 to control, propelling unit assembly is driven to rotate with swing pinion 13 transmission, the anglec of rotation is controlled with turning to position-sensing switch 14.
As shown in Figure 7, manipulator grasping system 7 is by manipulator motor 17, machinery is collected paw 18 and machinery and is stretched out paw 19 and form, manipulator motor 17 is arranged on the top of manipulator grasping system 7, paw 18 collected by machinery and machinery stretches out the below that paw 19 is arranged on system, manipulator grasping system 7 is provided with two cover manipulators can separate the catching robot controlled separately, control machinery by manipulator motor 17 to collect the folding that paw 18 and machinery stretches out paw 19 and capture object, machinery is collected paw 18 and machinery and is stretched out the barb that paw 19 is provided with difficult drop-off when making paw catch object, two cover manipulators can separate and control separately, in the search phase, manipulator is collected and is hidden in outer cover, the movement of manipulator can not be affected, when needs capture object, manipulator just stretches out outer cover crawl object, easy to use.
Principle of work of the present invention: in the operating process of reality, operating personal monitors the underwater motion conditions of manipulator by controlling Monitor and Control case, and by the process of manipulator by material evidence crawl under water.
The present invention controls the motion of underwater manipulator in water by the handle of Monitor and Control case, and by being arranged on the situation that submarine mechanical camera system is on hand come under picked up water, then timely image information is under water sent to above the high-clear display in Monitor and Control case by cable, operator controls the underwater motion of manipulator by the situation of observing on picture, and then finds exhibit and picked up by exhibit.
It should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to this bright technical scheme or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (7)
1. material evidence fishing robot under an intelligent water, it is characterized in that: under described intelligent water, material evidence fishing robot mainly comprises salvaging manipulator (1), Monitor and Control case (2) and connection cable (3), wherein, salvage the bottom that manipulator (1) is arranged on whole device, Monitor and Control case (2) is connected with salvaging manipulator (1) by connection cable (3), salvages manipulator (1) and comprises lighting video photographic system (4), parallel motion propulsion system (5), moving direction control system (6) and manipulator grasping system (7).
2. material evidence fishing robot under a kind of intelligent water according to claim 1, it is characterized in that: described lighting video photographic system (4) is positioned at the bottom of salvaging manipulator (1), be made up of two LED illumination lamp (9) and a camera (8), wherein two LED illumination lamp can master cock and brightness separately, conveniently changes according to surrounding environment change when searching.
3. material evidence fishing robot under a kind of intelligent water according to claim 1, it is characterized in that: described parallel motion propulsion system (5) is by propelling unit motor (10), propelling unit steering shaft (11) and screw propeller (12) composition, screw propeller (12) is arranged on the below of parallel motion propulsion system (5), by its power providing level to advance that moves, propelling unit steering shaft (11) is arranged on the top of screw propeller (12), the sense of motion of screw propeller (12) is controlled by it, propelling unit motor (10) is arranged on the top of system, by it for system provides power resources, propelling unit motor (10) controls to be regulated by rotating and speed, thus realization salvaging manipulator (1) seesaws with different speed.
4. material evidence fishing robot under a kind of intelligent water according to claim 1, it is characterized in that: described moving direction control system (6) is by swing pinion (13), turn to position-sensing switch (14), propelling unit course changing control motor (15) and turnover water channel filter screen (16) composition, swing pinion (13) and propelling unit course changing control motor (15) mesh together, by the rotation of propelling unit course changing control motor (15) driven rotary gear (13), position-sensing switch (14) is turned to be arranged on the side of system, by its control system and end, turnover water channel filter screen (16) is arranged on the lower inside of moving direction control system (6), the water of turnover is filtered by it, utilize the rotating of propelling unit course changing control motor (15) can realize salvaging manipulator (1) moving forward and backward point-blank, angle of rake turning to adopts propelling unit course changing control motor (15) to control, propelling unit assembly is driven to rotate with swing pinion (13) transmission, the anglec of rotation is controlled with turning to position-sensing switch (14).
5. material evidence fishing robot under a kind of intelligent water according to claim 1, is characterized in that: described
Manipulator grasping system (7) is by manipulator motor (17), paw (18) collected by machinery and machinery stretches out paw (19) composition, manipulator motor (17) is arranged on the top of manipulator grasping system (7), paw (18) collected by machinery and machinery stretches out the below that paw (19) is arranged on system, manipulator grasping system (7) is provided with two cover manipulators can separate the catching robot controlled separately, control machinery by manipulator motor (17) to collect the folding that paw (18) and machinery stretches out paw (19) and capture object, machinery is collected paw (18) and machinery and is stretched out the barb that paw (19) is provided with difficult drop-off when making paw catch object.
6. material evidence fishing robot under a kind of intelligent water according to claim 1, is characterized in that: the shell of described Monitor and Control case (2) adopts vibrationproof aluminium case, and inside is provided with 8 cun of high-resolution chromatic liquid crystal screens, control button and storage batterys.
7. material evidence fishing robot under a kind of intelligent water according to claim 1, is characterized in that: propulsion system is designed to by described moving direction control system can 90-degree rotation, and realization can move forward and backward in the perpendicular direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510265051.1A CN104843156A (en) | 2015-05-22 | 2015-05-22 | Intelligent robot for salvaging underwater physical evidence |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510265051.1A CN104843156A (en) | 2015-05-22 | 2015-05-22 | Intelligent robot for salvaging underwater physical evidence |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106131388A (en) * | 2016-08-24 | 2016-11-16 | 南京本来信息技术有限公司 | Submarine target image collecting device |
| CN107717973A (en) * | 2017-09-14 | 2018-02-23 | 昆明理工大学 | A kind of robot control system salvaged for underwater material evidence and method |
| CN110208033A (en) * | 2019-06-11 | 2019-09-06 | 苏州船用动力系统股份有限公司 | A kind of Split-type deep sea mobile television grab bucket |
| CN111268067A (en) * | 2020-02-13 | 2020-06-12 | 新昌县羽林街道智西机械厂 | Small module ocean magnetic detection device based on transmission of Internet of things |
| CN111361709A (en) * | 2020-03-20 | 2020-07-03 | 重庆文理学院 | Underwater detection fishing robot |
| CN111619770A (en) * | 2020-05-22 | 2020-09-04 | 中科星图(深圳)数字技术产业研发中心有限公司 | Underwater unmanned aerial vehicle and control method thereof |
| CN111762301A (en) * | 2020-07-20 | 2020-10-13 | 上海陆根智能传感技术有限公司 | Salvaging and recycling robot |
| CN111776173A (en) * | 2020-07-20 | 2020-10-16 | 上海陆根智能传感技术有限公司 | Remote control underwater fishing robot |
| CN115195974A (en) * | 2022-06-21 | 2022-10-18 | 广东海洋大学 | Fishing operation manipulator for underwater vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106131388A (en) * | 2016-08-24 | 2016-11-16 | 南京本来信息技术有限公司 | Submarine target image collecting device |
| CN107717973A (en) * | 2017-09-14 | 2018-02-23 | 昆明理工大学 | A kind of robot control system salvaged for underwater material evidence and method |
| CN110208033A (en) * | 2019-06-11 | 2019-09-06 | 苏州船用动力系统股份有限公司 | A kind of Split-type deep sea mobile television grab bucket |
| CN111268067A (en) * | 2020-02-13 | 2020-06-12 | 新昌县羽林街道智西机械厂 | Small module ocean magnetic detection device based on transmission of Internet of things |
| CN111361709A (en) * | 2020-03-20 | 2020-07-03 | 重庆文理学院 | Underwater detection fishing robot |
| CN111619770A (en) * | 2020-05-22 | 2020-09-04 | 中科星图(深圳)数字技术产业研发中心有限公司 | Underwater unmanned aerial vehicle and control method thereof |
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| CN111762301A (en) * | 2020-07-20 | 2020-10-13 | 上海陆根智能传感技术有限公司 | Salvaging and recycling robot |
| CN111776173A (en) * | 2020-07-20 | 2020-10-16 | 上海陆根智能传感技术有限公司 | Remote control underwater fishing robot |
| CN115195974A (en) * | 2022-06-21 | 2022-10-18 | 广东海洋大学 | Fishing operation manipulator for underwater vehicle |
| CN115195974B (en) * | 2022-06-21 | 2024-01-30 | 广东海洋大学 | Fishing operation manipulator for underwater vehicle |
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