CN105129053B - Detection method under a kind of cableless remote control diving robot water - Google Patents
Detection method under a kind of cableless remote control diving robot water Download PDFInfo
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- CN105129053B CN105129053B CN201510471630.1A CN201510471630A CN105129053B CN 105129053 B CN105129053 B CN 105129053B CN 201510471630 A CN201510471630 A CN 201510471630A CN 105129053 B CN105129053 B CN 105129053B
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Abstract
The invention discloses detection method and transducer apparatus under a kind of cableless remote control diving robot water, detection method comprises the following steps：Detection under water prepares → built wireless report control platform → installation transducer apparatus → debugging diving robot → diving robot and completes to detect work under water.By installing transducer apparatus between diving robot and wireless report control platform, wireless signal in the air that wireless report control platform is sent is converted into the wireless signal in water, make diving robot without can just receive the instruction of detection under water of wireless report control platform by wire cable, complete corresponding detection operation under water.Forward resistance is caused to diving robot this not only reduces the cable in water, and can improve the domain of walk of diving robot, saved labour, expand detection range, meet and wider deeper detect work under water.
Description
Technical field
The present invention relates to detection method and transducer apparatus under a kind of cableless remote control diving robot water.
Background technology
It can be carried out at home in all kinds of underwater operations such as each large watershed diving operation inspection salvaging using underwater robot
Detect and record a video.In actual mechanical process, because underwater robot needs sufficiently long cable to carry out power supply and operation
Signal is transmitted, and the forward resistance of robot can be caused after cable certain length, so that causing diving robot to fill
Its effect is waved in distribution and effect, scope and depth to inspection cause limitation.
The content of the invention
It is an object of the invention to a kind of cableless remote control diving robot is provided for the deficiency present in prior art
Detection method and the technical scheme of transducer apparatus under water, it is party's forensic science facility, with strong points, diving machine is solved well
The radio operation problem that device people detects under water.By installing transducer apparatus between diving robot and wireless report control platform,
Wireless signal in the air that wireless report control platform is sent is converted into the wireless signal in water, makes diving robot without logical
The instruction of detection under water of wireless report control platform can just be received by crossing wire cable, complete corresponding detection operation, and leading under water
Cross transducer apparatus and will complete the feedback signal that detects under water and be converted into aerial feedback signal to be communicated to wireless manipulation flat
On platform, so as to complete entirely to detect work under water.Cause forward to diving robot this not only reduces the cable in water
Resistance, so as to play effect and effect of diving robot to greatest extent, and can improve the walking model of diving robot
Enclose, save labour, expand detection range, meet and wider deeper detect work under water.
In order to solve the above-mentioned technical problem, adopt the following technical scheme that：
Detection method under a kind of cableless remote control diving robot water, it is characterised in that comprise the following steps：
(1) detection prepares under water：By the equipment and transport of materials needed for detecting under water to the waters to be detected under water
Side is, it is necessary to which the equipment prepared includes diving robot, wireless signal switching transducer, reception of wireless signals transducer, wireless communication
Number feedback transducer, wireless manipulation controller and wireless power supply controlling are, it is necessary to which the material prepared includes building wireless report control platform
With waterproof jacket 13, cable, the tent of transducer apparatus；
(2) wireless report control platform is built：According to the waters to be detected under water, found on the bank near waters
Smooth, builds a tent on level land, and installs corresponding wireless controlling equipment in tent inside, such as wireless manipulation control
Device processed and wireless power supply controlling, ground feedback reception transducer, ground launch transducer, form wireless report control platform；
(3) transducer apparatus is installed：The seat of honour of transducer apparatus and lower seat first are connected with anchor line, and by the other end of anchor line
Bank is fixed on, it is not walked with current drift；Then start inflation motor, high-pressure air source is started working, on a left side floating chamber and
Turn left and inflated in air bag and right air bag in the presence of the floating chamber in the right side, whole device is floated on the water surface；Finally in caisson
Wireless signal transducer and wireless signal switching transducer carry out installation and debugging, are at working condition；
(4) debugging diving robot：First diving robot is put into water, wireless report control platform sends command adapted thereto behaviour
Make, by transducer apparatus, radio operation signal is conveyed into diving robot under water, manipulation that diving robot feedback is wireless
Platform makes corresponding instruction, then debugs successfully；Otherwise staff reexamines transducer apparatus, diving robot and wireless
The relevant device of report control platform, finds out reason, solves corresponding problem, it is debugged successfully；
(5) diving robot completes to detect work under water：Wireless report control platform is sent detects operational order under water, by changing
The wireless signal for the air that energy device device sends wireless report control platform is converted into the wireless signal in water, so in diving machine
When people receives the wireless signal in water, start to complete the work for detecting operation under water that wireless report control platform is sent, and will be complete
Aerial wireless feedback signal is re-converted into by transducer apparatus into the wireless feedback signal in the water of work, so
Wireless report control platform receives the instruction of diving robot completion work, so as to complete above-mentioned detection work under water；Diving machine
If device people also needs to, completion is other to detect work under water, can complete its corresponding under water according to above-mentioned method and step
Detect work.
Further, in step (4), underwater wireless signal is first received and fed back transmitting before debugging diving robot
Underwater transducer be installed on diving robot in, underwater transducer specifically include receive transducer under water and under water feedback launches
Transducer, be specifically by underwater transducer with diving robot signal control cabinet be connected, realization dive under water robot under water without
Line signal is received and feedback transmitting.
Further, in step (5), diving robot completes the specific steps for detecting work under water：First by wireless
The ground launch transducer of report control platform sends aerial wireless signal and detects operational order under water, passes through transducer apparatus
The first reception of wireless signals transducer receive aerial wireless signal and detect operational order under water, then pass through the first nothing
Aerial wireless signal is converted into the wireless signal in water by line signal converting transducer, then passes through the first wireless communication
Number feedback transmitting transducer sends the wireless signal instruction being converted into water, and robot of finally diving under water passes through receive transducer under water
The detection operational order under water that wireless report control platform is sent is obtained, and completes to detect radio operation under water accordingly；Water to be done
After lower detection radio operation, first pass through feedback transmitting transducer under water and send wireless communication in the water for completing to detect radio operation under water
Number, and transfer signals in the second wireless singal receive transducer of transducer apparatus, then turned by second wireless singal
Connect transducer and the wireless feedback signal in water is converted into aerial wireless feedback signal, then pass through the second wireless communication
Number feedback transmitting transducer sends the wireless feedback signal instruction being converted into air, and last wireless report control platform is anti-by ground
Feedback receive transducer obtains the feedback signal for detecting completion under water that diving robot is sent, and is examined under water this completes above-mentioned
Survey work.
A kind of such as above-mentioned transducer apparatus, including the seat of honour and lower seat, is provided with transducer mount, transducing between the seat of honour and lower seat
Device support includes left transducer mount and right transducer mount, and waterproof is provided between left transducer mount and right transducer mount
Case, caisson includes the first caisson, the second caisson and the 3rd caisson, and the first caisson is located at the lower end at the seat of honour, the 3rd
Caisson is located at the upper end of lower seat, and the second caisson is arranged between the first caisson and the 3rd caisson, is provided with caisson
Wireless signal transducer and wireless signal switching transducer, wireless signal transducer include reception of wireless signals transducer and wireless
Signal feedback transducer, reception of wireless signals transducer includes the first reception of wireless signals transducer and second wireless singal is received
Transducer, wireless signal feedback transducer includes the first wireless signal feedback transmitting transducer and second wireless singal feedback transmitting
Transducer, the first reception of wireless signals transducer and second wireless singal feedback transmitting transducer are located in the first caisson, the
One wireless signal feedback transmitting transducer and second wireless singal receive transducer are located in the 3rd caisson, wireless signal switching
Transducer includes the first wireless signal switching transducer and second wireless singal switching transducer, the first wireless signal switching transducing
Device and second wireless singal switching transducer are located in the second caisson.By transducer apparatus, wireless report control platform is sent
Air in wireless signal be converted into the wireless signal in water, make diving robot without can just be connect by wire cable
The instruction of detection under water of wireless report control platform is received, corresponding detection operation under water is completed, and will complete by transducer apparatus
The feedback signal detected under water is converted into aerial feedback signal and is communicated on wireless report control platform, so as to complete whole water
Lower detection work.Forward resistance is caused to diving robot this not only reduces the cable in water, so as to greatest extent
Effect and effect of diving robot are played, and the domain of walk of diving robot can be improved, labour is saved, expands inspection
Scope is surveyed, meets and wider deeper detects work under water.
Further, the lower end of lower seat is connected with airbag apparatus, and airbag apparatus includes the gentle capsule of air bag casing, and air bag includes a left side
Provided with floating chamber in air bag and right air bag, air bag case body, floating chamber includes left floating chamber and right floating chamber, the left left floating chamber of air bag connection, right gas
The right floating chamber of capsule connection.Whole transducer apparatus is floated on water body by floating chamber and air bag, be easy to people to detect underwater operation.
Further, left fittings body is provided between left air bag and left floating chamber, right connector body is provided between right air bag and right floating chamber,
Left air bag and right air bag are externally provided with bladder shroud.
Further, left floating chamber and right floating chamber are connected with gas tube, and gas tube is connected with high-pressure air source, and high-pressure air source is connected with
Inflate motor.
Further, cable is provided between the first caisson, the second caisson and the 3rd caisson, cable includes the first electricity
Cable, the second cable, the 3rd cable and the 4th cable, the first cable are arranged at the first reception of wireless signals transducer and first wireless
Between signal converting transducer, the second cable is arranged at the first wireless signal switching transducer and the transmitting of the first wireless signal feedback
Between transducer, the 3rd cable be arranged at second wireless singal feedback transmitting transducer and second wireless singal switching transducer it
Between, the 4th cable is arranged between second wireless singal switching transducer and second wireless singal receive transducer.Wireless signal
By cable connection between transducer and wireless signal switching transducer, the wireless signal in air is passed through into the first wireless signal
Receive transducer, the first wireless signal switching transducer and the first wireless signal feedback transmitting transducer are converted into wireless in water
Signal, allows diving robot smoothly to receive and complete accordingly to detect work；It is wireless by second after detection work to be done
Signal receive transducer, second wireless singal switching transducer and second wireless singal feedback transmitting transducer, by machine of diving under water
The wireless feedback signal in water that people sends is converted into aerial wireless feedback signal, is easy to wireless report control platform to receive
Complete its feedback detection work.
Further, the outside of the first cable, the second cable, the 3rd cable and the 4th cable is cased with waterproof jacket.
Due to using above-mentioned technical proposal, have the advantages that：
The present invention is detection method and transducer apparatus under a kind of cableless remote control diving robot water, and party's forensic science is just
It is sharp, with strong points, the radio operation detected under diving robot water is solved the problems, such as well.By in diving robot and nothing
Transducer apparatus is installed between line report control platform, the wireless signal in the air that wireless report control platform is sent is converted into water
Wireless signal, refer under water detection of the diving robot without can just receive wireless report control platform by wire cable
Order, completes corresponding detection operation under water, and the feedback signal for completing to detect under water is converted into sky by transducer apparatus
Feedback signal in gas is communicated on wireless report control platform, so as to complete entirely to detect work under water.This not only reduces water
In cable to diving robot cause forward resistance so as to greatest extent play diving robot effect and effect,
And the domain of walk of diving robot can be improved, labour is saved, expands detection range, meets and wider deeper examines under water
Survey work.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation of transducer apparatus in the present invention；
Fig. 2 is the structural representation of airbag apparatus in the present invention；
Fig. 3 for detection method under a kind of cableless remote control diving robot water in the present invention configuration state schematic diagram；
Fig. 4 for the present invention in wireless signal wireless report control platform, transducer apparatus and diving robot between receive and
Feed back the flow chart of transmitting.
Embodiment
Detection method under a kind of cableless remote control diving robot water, it is characterised in that comprise the following steps：
(1) detection prepares under water：By the equipment and transport of materials needed for detecting under water to the waters to be detected under water
Side is, it is necessary to which the equipment prepared includes diving robot 4, wireless signal switching transducer, reception of wireless signals transducer, wireless communication
Number feedback transducer, wireless manipulation controller and wireless power supply controlling are, it is necessary to which the material prepared includes building wireless report control platform
With waterproof jacket 13, cable, the tent of transducer apparatus 17.
(2) wireless report control platform is built：According to the waters to be detected under water, found on the bank near waters
Smooth, builds a tent on level land, and installs corresponding wireless controlling equipment in tent inside, such as wireless manipulation control
Device processed and wireless power supply controlling, ground feedback reception transducer 32, ground launch transducer 31, form wireless report control platform.
(3) transducer apparatus 17 is installed：The seat of honour 1 of transducer apparatus 17 and lower seat 2 first are connected with anchor line, and by anchor line
The other end is fixed on bank, it is not walked with current drift；Then start inflation motor 16, high-pressure air source 15 is started working,
Chamber 84 and inflation in turned left in the presence of right floating chamber 85 air bag 82 and right air bag 83 are floated on a left side, whole device is floated on the water surface
On；Installation and debugging finally are carried out to the wireless signal transducer in caisson and wireless signal switching transducer, work is at
Make state.
(4) debugging diving robot 4：Underwater wireless signal is first received and fed back hair before debugging diving robot 4
The underwater transducer penetrated is installed in diving robot 4, and underwater transducer specifically includes receive transducer 42 under water and anti-under water
Transmitting transducer 43 is presented, is specifically to be connected underwater transducer with the signal control cabinet 41 for robot 4 of diving under water, realizes diving machine
The underwater wireless signal of people 4 is received and feedback transmitting.First diving robot 4 is put into water, wireless report control platform is sent accordingly
Command operating, by transducer apparatus 17, diving robot 4 under water is conveyed to by radio operation signal, diving robot 4 is anti-
Present wireless report control platform and make corresponding instruction, then debug successfully；Otherwise staff reexamines transducer apparatus 17, diving
The relevant device of robot 4 and wireless report control platform, finds out reason, solves corresponding problem, it is debugged successfully.
(5) diving robot 4 completes to detect work under water：Wireless report control platform is sent detects operational order under water, passes through
The wireless signal for the air that transducer apparatus 17 sends wireless report control platform is converted into the wireless signal in water, so in diving
When robot 4 receives the wireless signal in water, start to complete the work for detecting operation under water that wireless report control platform is sent, and
The wireless feedback signal in the water for completing work is re-converted into aerial wireless feedback by transducer apparatus 17 to believe
Number, so wireless report control platform receives the instruction that diving robot 4 completes work, so as to complete above-mentioned detection work under water
Make；If diving robot 4 is also needed to, completion is other to detect work under water, can complete its phase according to above-mentioned method and step
It is corresponding to detect work under water.The completion of robot 4 one of diving under water detects the specific steps of work under water：First by wireless report control platform
Ground launch transducer 31 send aerial wireless signal and detect operational order under water, pass through the of transducer apparatus 17
One reception of wireless signals transducer 51 receives aerial wireless signal and detects operational order under water, then wireless by first
Aerial wireless signal is converted into the wireless signal in water by signal converting transducer 61, then passes through the first wireless communication
Number feedback transmitting transducer 71 sends the wireless signal instruction being converted into water, and robot 4 of finally diving under water is changed by receiving under water
Energy device 42 obtains the detection operational order under water that wireless report control platform is sent, and completes to detect radio operation under water accordingly；Treat
Complete after detection radio operation under water, first pass through feedback transmitting transducer 43 under water and send the water for completing to detect radio operation under water
Middle wireless signal, and transfer signals in the second wireless singal receive transducer 72 of transducer apparatus 17, then pass through
Wireless feedback signal in water is converted into aerial wireless feedback signal by two wireless signals switching transducer 62, then
Transmitting transducer 52 is fed back by second wireless singal and sends the wireless feedback signal being converted into air instruction, last wireless behaviour
Control platform obtains the feedback signal for detecting completion under water that diving robot 4 is sent by ground feedback reception transducer 32, this
Sample is just completed above-mentioned detects work under water.
A kind of transducer apparatus, including the seat of honour 1 and lower seat 2 as shown in Figures 1 to 4, is provided between the seat of honour 1 and lower seat 2 and changes
Can device support.Transducer mount includes left transducer mount 23 and right transducer mount 24, left transducer mount 23 and right transducing
Caisson is provided between device support 24.
Caisson includes the first caisson 5, the second caisson 6 and the 3rd caisson 7, and the first caisson 5 is located at the seat of honour 1
Lower end, the 3rd caisson 7 is located at the upper end of lower seat 2, the second caisson 6 be arranged at the first caisson 5 and the 3rd caisson 7 it
Between.Provided with wireless signal transducer and wireless signal switching transducer in caisson, wireless signal transducer includes wireless signal
Receive transducer and wireless signal feedback transducer.Reception of wireless signals transducer includes the first reception of wireless signals transducer 51
With second wireless singal receive transducer 72, wireless signal feedback transducer includes the first wireless signal feedback transmitting transducer
71 and second wireless singal feedback transmitting transducer 52, the first reception of wireless signals transducer 51 and second wireless singal feedback hair
Transducer 52 is penetrated in the first caisson 5, the first wireless signal feedback transmitting transducer 71 and second wireless singal are received and changed
Energy device 72 is located in the 3rd caisson 7.Wireless signal switching transducer includes the first wireless signal switching transducer 61 and second
Wireless signal is transferred transducer 62, and the first wireless signal switching transducer 61 and second wireless singal switching transducer 62 are located at the
In two caissons 6.By transducer apparatus 17, the wireless signal in the air that wireless report control platform is sent is converted into water
Wireless signal, refer under water detection of the diving robot 4 without can just receive wireless report control platform by wire cable
Order, completes corresponding detection operation under water, and be converted into the feedback signal for completing to detect under water by transducer apparatus 17
Feedback signal in air is communicated on wireless report control platform, so as to complete entirely to detect work under water.This not only reduces
Cable in water causes forward resistance to diving robot 4, so as to play effect and the work(of diving robot 4 to greatest extent
Effect, and the domain of walk of diving robot 4 can be improved, labour is saved, expands detection range, meets wider deeper water
Lower detection work.
Cable is provided between first caisson 5, the second caisson 6 and the 3rd caisson 7, cable includes the first cable 9, the
Two cables 10, the 3rd cable 11 and the 4th cable 12, the first cable 9 are arranged at the first reception of wireless signals transducer 51 and first
Between wireless signal switching transducer 61, the second cable 10 is arranged at the first wireless signal switching wireless communication of transducer 61 and first
Between number feedback transmitting transducer 71, the 3rd cable 11 is arranged at the second wireless singal feedback nothing of transmitting transducer 52 and second
Between line signal converting transducer 62, the 4th cable 12 is arranged at second wireless singal switching transducer 62 and second wireless singal
Between receive transducer 72.First cable 9, the second cable 10, the outside of the 3rd cable 11 and the 4th cable 12 are cased with waterproof
Set 13.By cable connection between wireless signal transducer and wireless signal switching transducer, the wireless signal in air is led to
Cross the first reception of wireless signals transducer 51, the first wireless signal switching transducer 61 and first wireless signal feedback transmitting transducing
Device 71 is converted into the wireless signal in water, diving robot 4 is smoothly received and is completed accordingly to detect work；Inspection to be done
Survey after work, pass through second wireless singal receive transducer 72, second wireless singal switching transducer 62 and second wireless singal
Transmitting transducer 52 is fed back, the wireless feedback signal in water that robot 4 of diving under water is sent is converted into aerial wireless
Feedback signal, is easy to wireless report control platform to finish receiving its feedback detection work.
The lower end of lower seat 2 is connected with airbag apparatus 8, and airbag apparatus includes air bag casing 81 and air bag, and air bag includes left gas
Provided with floating chamber in capsule 82 and right air bag 83, air bag casing 81, floating chamber includes left floating chamber 84 and right floating chamber 85, and left air bag 82 connects a left side
Floating chamber 84, right air bag 83 connects right floating chamber 85.Left fittings body 86, right air bag 83 and the right side are provided between left air bag 82 and left floating chamber 84
Right connector body 87 is provided between floating chamber 85, left air bag 82 and right air bag 83 are externally provided with bladder shroud 88.The floating chamber 84 in a left side and right floating chamber
85 are connected with gas tube 14, and gas tube 14 is connected with high-pressure air source 15, and high-pressure air source 15 is connected with inflation motor 16.By floating chamber
Whole transducer apparatus 17 is floated on water body with air bag, be easy to people to detect underwater operation.
The specific embodiment of the present invention is these are only, but the technical characteristic of the present invention is not limited thereto.It is any with this hair
Based on bright, to solve essentially identical technical problem, essentially identical technique effect is realized, made ground simple change, etc.
With replacement or modification etc., all it is covered by among protection scope of the present invention.
Claims (9)
1. detection method under a kind of cableless remote control diving robot water, it is characterised in that comprise the following steps：
(1) detection prepares under water：By the equipment needed for detecting under water and transport of materials to the waters side to be detected under water, need
The equipment to be prepared includes diving robot, wireless signal switching transducer, reception of wireless signals transducer, wireless signal feedback
Transducer, wireless manipulation controller and wireless power supply controlling are, it is necessary to which the material prepared includes building wireless report control platform and transducing
Waterproof jacket, cable, the tent of device detection means under cableless remote control diving robot water；
(2) wireless report control platform is built：According to the waters to be detected under water, one piece is found on the bank near waters
Level land, builds a tent on level land, and installs corresponding wireless controlling equipment in tent inside, such as wireless manipulation controller
With wireless power supply controlling, ground feedback reception transducer, ground launch transducer, wireless report control platform is formed；
(3) transducer apparatus is installed：The seat of honour of transducer apparatus and lower seat first are connected with anchor line, and the other end of anchor line is fixed
In bank, it is set not walked with current drift；Then start inflation motor, high-pressure air source is started working, floating chamber and the right side are floating on a left side
Turn left and inflated in air bag and right air bag in the presence of chamber, whole device is floated on the water surface；Finally to wireless in caisson
Signal transducers and wireless signal switching transducer carry out installation and debugging, are at working condition；
(4) debugging diving robot：First diving robot is put into water, wireless report control platform sends command adapted thereto operation, leads to
Transducer apparatus is crossed, radio operation signal is conveyed into diving robot under water, diving robot feeds back wireless report control platform
Corresponding instruction is made, then is debugged successfully；Otherwise staff reexamines transducer apparatus, diving robot and wireless manipulation
The relevant device of platform, finds out reason, solves corresponding problem, it is debugged successfully；
(5) diving robot completes to detect work under water：Wireless report control platform is sent detects operational order under water, passes through transducer
The wireless signal for the air that device sends wireless report control platform is converted into the wireless signal in water, is so connect in diving robot
When receiving the wireless signal in water, start to complete the work for detecting operation under water that wireless report control platform is sent, and work will be completed
Wireless feedback signal in the water of work is re-converted into aerial wireless feedback signal by transducer apparatus, so wireless
Report control platform receives the instruction of diving robot completion work, so as to complete above-mentioned detection work under water；Diving robot
If also needed to, completion is other to detect work under water, can complete its corresponding detection under water according to above-mentioned method and step
Work.
2. detection method under a kind of cableless remote control diving robot water according to claim 1, it is characterised in that：In the step
Suddenly in (4), the underwater transducer for first receiving and feeding back transmitting by underwater wireless signal before debugging diving robot is installed on
Dive under water in robot, the underwater transducer specifically includes receive transducer under water and feeds back transmitting transducer under water, be specifically
Underwater transducer is connected with the signal control cabinet for robot of diving under water, realizes that the underwater wireless signal of diving robot is received and anti-
Feedback transmitting.
3. detection method under a kind of cableless remote control diving robot water according to claim 1, it is characterised in that：In the step
Suddenly in (5), diving robot completes the specific steps for detecting work under water：First changed by the ground launch of wireless report control platform
Energy device sends aerial wireless signal and detects operational order under water, is changed by the first reception of wireless signals of transducer apparatus
Can device receive aerial wireless signal and detect operational order under water, then transferring transducer by the first wireless signal will be
Wireless signal in air is converted into the wireless signal in water, is then sent by the first wireless signal feedback transmitting transducer
The wireless signal instruction in water is converted into, robot of finally diving under water obtains wireless report control platform by receive transducer under water and sent
Detection operational order under water, and complete detect radio operation under water accordingly；After the radio operation of detection under water to be done, first lead to
Cross feedback transmitting transducer under water and send wireless signal in the water for completing to detect radio operation under water, and transfer signals to transducing
In the second wireless singal receive transducer of device device, then transferring transducer by second wireless singal will be wireless in water
Feedback signal is converted into aerial wireless feedback signal, is then sent and turned by second wireless singal feedback transmitting transducer
Change the wireless feedback signal instruction in air into, last wireless report control platform obtains diving machine by ground feedback reception transducer
The feedback signal for detecting completion under water that device people sends, work is detected this completes above-mentioned under water.
4. detection method under a kind of cableless remote control diving robot water according to claim 1, the transducer apparatus includes
The seat of honour and lower seat, it is characterised in that：Transducer mount is provided between the seat of honour and the lower seat, the transducer mount includes
Left transducer mount and right transducer mount, are provided with caisson between the left transducer mount and the right transducer mount,
The caisson includes the first caisson, the second caisson and the 3rd caisson, and first caisson is located at the seat of honour
Lower end, the 3rd caisson is located at the upper end of the lower seat, and second caisson is arranged at first caisson and institute
State between the 3rd caisson, wireless signal transducer and wireless signal switching transducer are provided with the caisson, it is described wireless
Signal transducers include reception of wireless signals transducer and wireless signal feedback transducer, the reception of wireless signals transducer bag
Include the first reception of wireless signals transducer and second wireless singal receive transducer, the wireless signal feedback transducer includes the
One wireless signal feedback transmitting transducer and second wireless singal feedback transmitting transducer, the first reception of wireless signals transducing
Device and second wireless singal feedback transmitting transducer are located in first caisson, the first wireless signal feedback hair
Penetrate transducer and the second wireless singal receive transducer is located in the 3rd caisson, the wireless signal switching transducing
Device includes the first wireless signal switching transducer and second wireless singal switching transducer, the first wireless signal switching transducing
Device and second wireless singal switching transducer are located in second caisson.
5. detection method under a kind of cableless remote control diving robot water according to claim 4, it is characterised in that：The lower seat
Lower end be connected with airbag apparatus, the airbag apparatus includes the gentle capsule of air bag casing, and the air bag includes left air bag and right gas
Provided with floating chamber in capsule, the air bag case body, the floating chamber includes left floating chamber and right floating chamber, and the left air bag connection is described left floating
Chamber, the right air bag connection right floating chamber.
6. detection method under a kind of cableless remote control diving robot water according to claim 5, it is characterised in that：The left gas
Left fittings body is provided between capsule and the left floating chamber, right connector body, the left side are provided between the right air bag and the right floating chamber
Air bag and the right air bag are externally provided with bladder shroud.
7. detection method under a kind of cableless remote control diving robot water according to claim 5, it is characterised in that：It is described left floating
Chamber and the right floating chamber are connected with gas tube, and the gas tube is connected with high-pressure air source, and the high-pressure air source is connected with inflation electricity
Machine.
8. detection method under a kind of cableless remote control diving robot water according to claim 4, it is characterised in that：Described first
Cable is provided between caisson, second caisson and the 3rd caisson, the cable includes the first cable, the second electricity
Cable, the 3rd cable and the 4th cable, first cable are arranged at the first reception of wireless signals transducer and described first
Between wireless signal switching transducer, second cable is arranged at the first wireless signal switching transducer and described first
Between wireless signal feedback transmitting transducer, the 3rd cable be arranged at second wireless singal feedback transmitting transducer and
Between second wireless singal switching transducer, the 4th cable be arranged at the second wireless singal switching transducer and
Between the second wireless singal receive transducer.
9. detection method under a kind of cableless remote control diving robot water according to claim 8, it is characterised in that：Described first
Cable, second cable, the outside of the 3rd cable and the 4th cable are cased with waterproof jacket.
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| CN201510471630.1A CN105129053B (en) | 2015-08-04 | 2015-08-04 | Detection method under a kind of cableless remote control diving robot water |
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| US10029771B2 (en) * | 2016-10-28 | 2018-07-24 | Ki Joon Kim | Floating recovery device for underwater equipment |
| CN107390508A (en) * | 2017-09-21 | 2017-11-24 | 成都驹月科技有限公司 | A kind of gps time synchronous machine with water-proof function |
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| KR100607548B1 (en) * | 2004-12-27 | 2006-08-02 | 한국해양연구원 | Underwater Detection System Using Submarine Wireless Communication Method |
| DE102010035899B4 (en) * | 2010-08-31 | 2018-01-04 | Atlas Elektronik Gmbh | Unmanned underwater vehicle and method of operating an unmanned underwater vehicle |
| CN102501953A (en) * | 2011-11-07 | 2012-06-20 | 天津银箭科技有限公司 | Development system for bionic robot fish |
| CN103998186B (en) * | 2011-12-15 | 2016-12-07 | 韩国海洋科学技术院 | There is multi-joint seafloor robot and the habitata system of compound locomotive function |
| CN103950524B (en) * | 2014-04-15 | 2016-04-27 | 南京航空航天大学 | Injecting type bionic underwater vehicle and mode of operation thereof |
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2015
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