CN107718015B - Underwater robot - Google Patents
Underwater robot Download PDFInfo
- Publication number
- CN107718015B CN107718015B CN201711117440.5A CN201711117440A CN107718015B CN 107718015 B CN107718015 B CN 107718015B CN 201711117440 A CN201711117440 A CN 201711117440A CN 107718015 B CN107718015 B CN 107718015B
- Authority
- CN
- China
- Prior art keywords
- light
- underwater robot
- frame body
- propulsion
- sub
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Accessories Of Cameras (AREA)
- Manipulator (AREA)
- Studio Devices (AREA)
Abstract
The underwater robot is provided with a frame body, a propulsion system capable of correcting a route, a light compensation system with less divergence and strong penetrating power, a camera shooting mechanism and a detection mechanism, wherein the propulsion mechanism, the light compensation system, the camera shooting mechanism and the detection mechanism are respectively and fixedly arranged on the frame body. The propulsion system is provided with a plurality of first propulsion mechanisms and a plurality of second propulsion mechanisms. The underwater robot is provided with a propulsion system which can be used for correcting the course, when the underwater robot moves underwater, whether the underwater robot deviates from the course or not can be automatically detected, and the angle of the propeller is automatically adjusted so that the underwater robot is stable. Meanwhile, the light compensation system provided by the invention can absorb scattered light, and has the advantages of small emission angle and strong penetrability, so that the reflected light in the front-back direction is effectively reduced. The underwater robot has the characteristic of stable underwater operation, and can avoid the influence of scattered light of the light compensation system on the camera system and improve the imaging quality.
Description
Technical Field
The invention relates to the field of underwater detection equipment, in particular to an underwater robot.
Background
Ocean is a "blue barn" where humans acquire quality protein. In recent decades, sea fishery with mariculture as an important point in China is rapidly developed, five industrial waves of sea algae, marine shrimp, marine shellfish, marine fish and seafood culture are raised, and the total culture yield is always the first place in the world since 1990. However, the underwater environment is dangerous and the diving depth of a person is limited, so that the underwater robot has become an important tool for developing the ocean. Due to the water flow under water and the inertia of the underwater robot, the underwater robot can move up and down, and the work of the underwater robot is seriously influenced. Meanwhile, because of water turbidity and insufficient light, the light compensation is particularly important for video acquisition, but the scattered light of the existing light compensation system seriously affects the video imaging effect.
Therefore, aiming at the defects in the prior art, it is necessary to provide an underwater robot to solve the defects in the prior art.
Disclosure of Invention
The invention aims to provide an underwater robot, which avoids the defects of the prior art. The underwater robot has the characteristic of stable underwater operation, and can avoid the influence of scattered light of the light compensation system on the camera system and improve the imaging quality.
The above object of the present invention is achieved by the following technical measures:
the underwater robot is provided with a frame body, a propulsion system capable of correcting a route, a light compensation system with less divergence and strong penetrating power, a camera shooting mechanism and a detection mechanism, wherein the propulsion mechanism, the light compensation system, the camera shooting mechanism and the detection mechanism are respectively and fixedly arranged on the frame body.
Preferably, the propulsion system is provided with a plurality of first propulsion mechanisms and a plurality of second propulsion mechanisms.
The side surface where the image pickup mechanism is located is defined as the front surface of the frame body, the first pushing mechanism is fixedly arranged on the side surface opposite to the front surface of the frame body, and the side surface is defined as the rear surface of the frame body.
The second propulsion mechanism is provided with a second propeller which is fixedly arranged on the side surface of the frame body, the side surface is adjacent to the front surface and the rear surface respectively, the side surface is defined as an upper bottom surface of the frame body, the side surfaces adjacent to the front surface, the rear surface and the upper bottom surface are defined as left side surfaces, and the side surfaces opposite to the left side surfaces are defined as right side surfaces.
The first propulsion mechanism is used for propelling the underwater robot in the horizontal direction.
The second propulsion mechanism is used for the vertical propulsion of the underwater robot.
Preferably, the first propulsion mechanism is provided with a first propeller and an automatic adjustment system, and the first propeller is in transmission connection with the automatic adjustment system.
Preferably, the automatic adjusting system is provided with a gyroscope, a first stepping motor and a connecting mechanism, wherein the first stepping motor is fixedly connected with the frame body, the gyroscope is fixedly installed inside the first stepping motor, the connecting mechanism is fixedly installed on the surface of the first propeller, the middle shaft of the connecting mechanism is perpendicular to the left side surface, the first stepping motor is in transmission connection with one end of the connecting mechanism, and the other end of the connecting mechanism is fixedly connected with the frame body.
The gyroscope is used for sensing the route of the underwater robot and sending a vertical correction signal to the first stepping motor.
The connecting mechanism is used for axially rotating the first propeller perpendicular to the left side surface.
The first stepping motor drives one end of the connecting mechanism to rotate.
Further, the connection mechanism is provided with a first connector end, a second connector end and a first bearing.
The second connector end is provided with a first shaft end matched with the first recess and the through hole of the first bearing respectively and a second recess for embedding the first bearing, and the first bearing is embedded in the second recess; the second connector end is provided with a first shaft end matched with the first concave part and the through hole of the first bearing respectively and a second concave part used for being embedded with the first bearing, and the first bearing is embedded in the second concave part.
The second connector end is fixedly arranged on the frame body, and the first connector end is fixedly arranged on the surface of the first propeller and is in transmission connection with the first stepping motor; the first shaft end is movably connected with the second connector end through the second concave part and the first bearing.
Preferably, the optical compensation system is provided with a first optical compensation mechanism and a second optical compensation mechanism, and the first optical compensation mechanism and the second optical compensation mechanism are respectively and fixedly installed in front of the frame body.
Preferably, the first light compensation mechanism is provided with a lamp holder, a lens and a lamp, and the lamp and the lens absorber are sequentially and fixedly installed on the lamp holder.
The lens is used for converging the light rays emitted by the illuminating lamp.
Preferably, the lamp holder comprises a first sub-seat and a plurality of second sub-seats, wherein the first sub-seat is positioned at the center of the lamp holder, and the second sub-seats are evenly distributed around the first sub-seat.
Further, the first sub-seat is provided with 1, and the second sub-seat is provided with 3 or more than 3.
Preferably, an included angle between the central axis of the first sub-seat and the central axis of the second sub-seat is defined as alpha, and 0 degrees is less than alpha and less than 90 degrees.
Preferably, the first light compensation mechanism is further provided with a light absorber.
The light absorber is fixedly arranged on the outer surface above the first sub-seat and surrounds the outside of the lens; or alternatively
The light absorber is fixedly arranged on the outer surface above the first sub-seat, and surrounds at least one of the outer parts of the lens;
preferably, the light absorber is provided with a light blocking ring and a light absorbing coating.
Preferably, the light blocking ring is welded to the inner surface of the light absorber perpendicular to the central axis of the light absorber.
Further, a light absorbing coating is attached to the inner surface of the light absorber and the surface of the light blocking ring.
The absorber is used for absorbing scattered light.
Preferably, the camera shooting mechanism is provided with an angle adjusting mechanism and a camera, the angle adjusting mechanism is fixedly connected with the frame body, and the camera is in transmission connection with the angle adjusting mechanism.
Preferably, the angle adjuster is provided with a second stepping motor, a first control mechanism and a connecting shaft, wherein the first control mechanism is installed in an electronic bin of the underwater robot and is in electric signal connection with the second stepping motor, the second stepping motor is in transmission connection with one end of the connecting shaft, and the other end of the connecting shaft is in transmission connection with the camera.
The first control mechanism receives signals through wires or wirelessly and sends out electric signals to the second stepping motor.
The first stepping motor rotates the camera in the axial direction perpendicular to the center axis of the camera through the switching mechanism.
The electronic bin is fixedly arranged on the side surface opposite to the upper bottom surface of the frame body, and the side surface is defined as a lower bottom surface.
Preferably, the frame body comprises a floating plate and a frame which are fixedly arranged on the upper bottom surface of the frame body, wherein the floating plate is provided with notches matched with the second propelling mechanism at two opposite sides respectively.
Preferably, the first pushing mechanism, the second pushing mechanism, the first light compensation mechanism and the second light compensation mechanism are respectively two.
The gravity center of the underwater robot and the total action point of buoyancy are on the same vertical line.
The gravity center of the underwater robot and the total action point of buoyancy are on the same vertical line.
The underwater robot is provided with a frame body, a propulsion system capable of correcting a route, a light compensation system with less divergence and strong penetrating power, a shooting mechanism and a detection mechanism, wherein the propulsion mechanism, the light compensation system, the shooting mechanism and the detection mechanism are respectively and fixedly arranged on the frame body. The underwater robot is provided with a propulsion system which can be used for correcting the course, when the underwater robot moves underwater, whether the underwater robot deviates from the course or not can be automatically detected, and the angle of the propeller is automatically adjusted so that the underwater robot is stable. Meanwhile, the light compensation system provided by the invention can absorb scattered light, and has the advantages of small emission angle and strong penetrability, so that the reflected light in the front-back direction is effectively reduced. The underwater robot has the characteristic of stable underwater operation, and can avoid the influence of scattered light of the light compensation system on the camera system and improve the imaging quality.
Drawings
The invention is further illustrated by the accompanying drawings, which are not to be construed as limiting the invention in any way.
Fig. 1 is a schematic structural view of an embodiment 1 of an underwater robot according to the present invention.
Fig. 2 is a schematic view of an underwater robot embodiment 1 according to the present invention, wherein a in fig. 2 is a front view, B in fig. 2 is a bottom view, C in fig. 2 is a top view, D in fig. 2 is a left side view, and E in fig. 2 is a right side view.
Fig. 3 is a schematic structural view of a first propulsion mechanism of an underwater robot according to the present invention.
Fig. 4 is an exploded view of a first propulsion mechanism of an underwater robot according to the present invention.
Fig. 5 is a schematic structural view of a second connector terminal of the underwater robot according to the present invention.
Fig. 6 is a schematic structural view of an underwater robot camera mechanism according to the present invention.
Fig. 7 is a schematic view of a first optical compensation mechanism of an underwater robot embodiment 1 according to the present invention, wherein a in fig. 7 is a left side view, and B in fig. 7 is a front view.
Fig. 8 is a schematic cross-sectional view of a first light compensation mechanism of an underwater robot according to the present invention.
Fig. 9 is a schematic cross-sectional view of an absorber for an underwater robot according to the present invention.
In FIGS. 1 to 9, there are included
Propulsion system 10,
A first propulsion mechanism 11,
An automatic adjustment system 112,
A first stepper motor 1121,
A first connector end 11221, a first recess 112211,
A second connector end 11222, a first shaft end 112221, a second recess 112222,
A first bearing 11223,
A second propulsion mechanism 12,
A light compensation system 20,
A first light compensation mechanism 21,
A lamp holder 211, a first sub-holder 2111, a second sub-holder 2112,
A lamp 212, a lens 213,
Absorber 214, light barrier 2141, light absorbing coating 2142,
A second light compensation mechanism 22,
An imaging mechanism 30,
A second stepping motor 311, a connecting shaft 313,
An electronics compartment 50.
Detailed Description
The technical scheme of the invention is further described with reference to the following examples.
Example 1.
An underwater robot is provided with a frame body, a propulsion system 10 capable of correcting a route, a light compensation system 20 with less divergence and strong penetrating power, an image pickup mechanism 30 and a detection mechanism, wherein the propulsion system 20, the light compensation system 30 and the detection mechanism are respectively and fixedly arranged on the frame body.
The propulsion system 10 is provided with a plurality of first propulsion mechanisms 11 and a plurality of second propulsion mechanisms 12. The side surface on which the image pickup mechanism 30 is located is defined as the front surface of the frame body, the first pushing mechanism 11 is fixedly mounted on the side surface opposite to the front surface of the frame body, and the side surface is defined as the rear surface of the frame body. The second propulsion mechanism 12 is provided with a second propulsion fixedly mounted to a side surface of the frame body, which is adjacent to the front surface and the rear surface, respectively, the side surface being defined as an upper bottom surface of the frame body, the side surfaces adjacent to the front surface, the rear surface and the upper bottom surface being defined as left side surfaces, and the side surfaces opposite to the left side surfaces being defined as right side surfaces.
The first propulsion mechanism 11 is used for propulsion in the horizontal direction of the underwater robot.
The second propulsion mechanism 12 is used for propulsion in the vertical direction of the underwater robot.
The first propulsion mechanism 11 is provided with a first propeller and an automatic adjustment system 112, the first propeller being in driving connection with the automatic adjustment system 112.
The automatic adjustment system 112 is provided with a gyroscope, a first stepping motor 1121 and a connecting mechanism, the first stepping motor 1121 is fixedly connected with the frame body, the gyroscope is fixedly installed inside the first stepping motor 1121, the first connecting mechanism 1122 is fixedly installed on the surface of the first propeller, the middle shaft of the connecting mechanism is perpendicular to the left side face, the first stepping motor 1121 is in transmission connection with one end of the connecting mechanism, and the other end of the connecting mechanism is fixedly connected with the frame body. The gyroscope is used to sense the course of the underwater robot and signal the first stepper motor 1121 to level corrections.
The connecting mechanism is used for axially rotating the first propeller perpendicular to the left side surface.
The first stepping motor 1121 rotates one end of the connection mechanism.
The connection mechanism is provided with a first connector sub-end 11221, a second connector sub-end 11222 and a first bearing 11223. The second connector terminal 11222 is provided with a first shaft end 112221 which is fitted with the first recess 112211 and the through hole of the first bearing 11223, respectively, and a second recess 112222 for fitting the first bearing 11223, and the first bearing 11223 is fitted in the second recess 112222.
The second connector end 11222 is fixedly installed on the frame body, and the first connector end 11221 is fixedly installed on the surface of the first propeller and is in transmission connection with the first stepping motor 1121; the first shaft end 112221 is movably coupled to the second connector end 11222 by a second recess and a first bearing 11223.
The first light compensation mechanism 21 is provided with a lamp holder 211, a light absorber 214, a lens 213, and an illumination lamp 212, and the illumination lamp 212 and the lens 213, the light absorber 214 being fixedly mounted in this order to the lamp holder 211.
The lens 213 is used for converging the light emitted from the illumination lamp 212.
The lamp holder 211 includes a first sub-holder 2111 and a plurality of second sub-holders 2112, wherein the first sub-holder 2111 is located at the center of the lamp holder 211, and the second sub-holders 2112 are evenly distributed around the first sub-holder 2111. The first sub-seat 2111 is provided 1, and the second sub-seat 2112 is provided 3 or more. The included angle between the central axis of the first sub-seat 2111 and the central axis of the second sub-seat 2112 is defined as alpha, and 0 DEG < alpha < 90 deg.
The first light compensation mechanism 21 is also provided with a light absorber 214. The absorber 214 is fixedly installed at an outer surface above the first sub-mount 2111 and the absorber 214 surrounds the outside of the lens 213. The absorber 214 is provided with a light-blocking ring 2141 and a light-absorbing coating 2142. The light blocking ring 2141 is welded to the inner surface of the light absorber 214 perpendicular to the central axis of the light absorber 214. The light absorbing coating 2142 is attached to the inner surface of the light absorber 214 and to the surface of the light blocking ring 2141.
The absorber 214 is used to absorb scattered light. The second sub-seats 2112 of the present embodiment are provided 5, and the absorber 214 is provided only in the first sub-seat 2111.
The camera shooting mechanism 30 is provided with an angle adjusting mechanism and a camera, the angle adjusting mechanism is fixedly connected with the frame body, and the camera is in transmission connection with the angle adjusting mechanism. The angle adjusting mechanism is provided with a second stepping motor 311, a first control mechanism and a connecting shaft 313, wherein the first control mechanism is installed in the electronic bin 50 of the underwater robot and is electrically connected with the second stepping motor 311, the second stepping motor 311 is in transmission connection with one end of the connecting shaft 313, and the other end of the connecting shaft 313 is in transmission connection with the camera.
The first control mechanism receives signals by wire or wireless and sends out electrical signals to the second stepping motor 311. The first stepper motor 1121 rotates the camera through an adapter mechanism in an axial direction perpendicular to the camera axis.
In the working process of the underwater robot, operators on water can adjust the camera to perform axial adjustment perpendicular to the center shaft of the camera according to actual conditions.
The electronic bin 50 is fixedly mounted to a side surface opposite to the upper bottom surface of the frame body, and the side surface is defined as a lower bottom surface.
The frame body comprises a floating plate and a frame which are fixedly arranged on the upper bottom surface of the frame body, wherein the floating plate is provided with notches which are matched with the second propelling mechanism 12 respectively at two opposite sides. The first pushing mechanism 11, the second pushing mechanism 12, the first light compensation mechanism 21, and the second light compensation mechanism 22 are provided in two, respectively.
The two first propulsion mechanisms 11 and the two second propulsion mechanisms 12 can enable the power distribution of the underwater robot to be more uniform and the running to be more stable.
The two first light compensation mechanisms 21 and the two second light compensation mechanisms 22 can make the light compensation within the field of view of the image capturing mechanism 30 more sufficient.
The working principle of the invention is as follows: when the underwater robot moves up and down during navigation, the gyroscope sends a repair signal to the first stepping motor 1121, and the shaft of the first stepping motor 1121 rotates to enable the first propeller to rotate in the opposite direction, so that the underwater robot stably runs. In the light compensation system 20, the light blocking ring 2141 can block light with larger emission angle, and the light absorbing coating inside the light absorber 214 can absorb light irradiated on the surface of the light blocking ring, so that light with larger emission angle can be filtered, the light emitted from the first light compensation mechanism 21 is concentrated in angle, no scattered light exists, and the light penetration capability is strong.
It should be noted that the light absorber 214 of the present invention may have the following several ways: 1. the absorber 214 is fixedly installed at an outer surface above the first sub-mount 2111 and the absorber 214 surrounds the outside of the lens 213. 2. The absorber 214 is fixedly installed at an outer surface above the first sub-mount 2111 and the absorber 214 surrounds the outside of the lens 213. 3. The light absorbers 214 are fixedly installed on the upper outer surfaces of the first and second sub-seats 2111 and 2112, respectively, and the light absorbers 214 are enclosed outside the lenses 213. The embodiment is the first mode, and other modes can be selected according to actual needs. The number of the second sub-seats 2112 may be 5, preferably 3 or more. The underwater robot has a propulsion system 10 that can be used to correct the course, automatically detect if the underwater machine is off course when moving underwater, and automatically adjust the angle of the propeller to smooth the underwater robot. Meanwhile, the light compensation system 20 of the present invention can absorb scattered light, and has a small emission angle and a strong penetration capability, so as to effectively reduce the reflected light in the front-rear direction. The underwater robot has the characteristic of stable underwater operation, and can avoid the influence of scattered light of the light compensation system on the camera system and improve the imaging quality.
Example 2.
The underwater robot is the same as in embodiment 1 except that 3 second sub-seats 2112 are provided.
The second light compensation mechanism 22 of the present embodiment has a wider light compensation range, and is more advantageous for the imaging mechanism 30.
The underwater robot has a propulsion system 10 that can be used to correct the course, automatically detect if the underwater machine is off course when moving underwater, and automatically adjust the angle of the propeller to smooth the underwater robot. Meanwhile, the light compensation system 20 of the present invention can absorb scattered light, and has a small emission angle and a strong penetration capability, so as to effectively reduce the reflected light in the front-rear direction. The underwater robot has the characteristic of stable underwater operation, and can avoid the influence of scattered light of the light compensation system on the camera system and improve the imaging quality.
Example 3.
An underwater robot is the same as in embodiment 2 except that the center of gravity of the underwater robot and the total point of action of buoyancy are on the same vertical line.
The operation of the underwater robot of this embodiment is smoother than that of embodiments 1 and 2.
The underwater robot has a propulsion system 10 that can be used to correct the course, automatically detect if the underwater machine is off course when moving underwater, and automatically adjust the angle of the propeller to smooth the underwater robot. Meanwhile, the light compensation system 20 of the present invention can absorb scattered light, and has a small emission angle and a strong penetration capability, so as to effectively reduce the reflected light in the front-rear direction. The underwater robot has the characteristic of stable underwater operation, and can avoid the influence of scattered light of the light compensation system on the camera system and improve the imaging quality.
Example 4.
The underwater robot is otherwise the same as that of embodiment 1, except that both the first sub-seat 2111 and the second sub-seat 2112 of the present embodiment are provided with the light absorbers 214.
The first light compensation mechanism 21 of this embodiment is stronger in light transmittance and less in scattered light than that of embodiment 1.
The underwater robot has a propulsion system 10 that can be used to correct the course, automatically detect if the underwater machine is off course when moving underwater, and automatically adjust the angle of the propeller to smooth the underwater robot. Meanwhile, the light compensation system 20 of the present invention can absorb scattered light, and has a small emission angle and a strong penetration capability, so as to effectively reduce the reflected light in the front-rear direction. The underwater robot has the characteristic of stable underwater operation, and can avoid the influence of scattered light of the light compensation system on the camera system and improve the imaging quality.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted equally without departing from the spirit and scope of the technical solution of the present invention.
Claims (7)
1. An underwater robot, characterized in that: the system comprises a frame body, a propulsion system capable of correcting a route, a light compensation system with less divergence and strong penetrating power, a camera shooting mechanism and a detection mechanism, wherein the propulsion system, the light compensation system, the camera shooting mechanism and the detection mechanism are respectively and fixedly arranged on the frame body;
the optical compensation system is provided with a first optical compensation mechanism and a second optical compensation mechanism which are respectively and fixedly arranged in front of the frame body;
the first light compensation mechanism is provided with a lamp holder, a lens and an illuminating lamp, and the illuminating lamp and the lens are sequentially and fixedly arranged on the lamp holder;
the lens is used for converging light rays emitted by the illuminating lamp;
the lamp holder comprises a first sub-seat and a plurality of second sub-seats, the first sub-seat is positioned at the center of the lamp holder, and the second sub-seats are evenly distributed around the first sub-seat;
the number of the first sub-seats is 1, and the number of the second sub-seats is 3 or more than 3;
the included angle between the central axis of the first sub-seat and the central axis of the second sub-seat is defined as alpha, and alpha is more than 0 degrees and less than 90 degrees;
the first light compensation mechanism is also provided with a light absorber;
the light absorber is fixedly arranged on the outer surface above the first sub-seat and surrounds the outside of the lens; or alternatively
The light absorber is fixedly arranged on the outer surface above the first sub-seat, and surrounds at least one of the outer parts of the lens;
the light absorber is provided with a light blocking ring and a light absorbing coating;
the light blocking ring is perpendicular to the middle shaft of the light absorber and is welded to the inner surface of the light absorber;
the light absorption coating is attached to the inner surface of the light absorber and the surface of the light blocking ring;
the absorber is used for absorbing scattered light.
2. An underwater robot as claimed in claim 1, wherein: the propulsion system is provided with a plurality of first propulsion mechanisms and a plurality of second propulsion mechanisms;
defining the side surface of the camera shooting mechanism as the front surface of the frame body, wherein the first propulsion mechanism is fixedly arranged on the side surface opposite to the front surface of the frame body, and defining the side surface as the back surface of the frame body;
the second propulsion mechanism is provided with a second propeller, the second propeller is fixedly arranged on the side surface of the frame body, the side surface is adjacent to the front surface and the rear surface respectively, the side surface is defined as an upper bottom surface of the frame body, the side surfaces adjacent to the front surface, the rear surface and the upper bottom surface are defined as left side surfaces, and the side surfaces opposite to the left side surfaces are defined as right side surfaces;
the first propulsion mechanism is used for propelling the underwater robot in the horizontal direction;
the second propulsion mechanism is used for the vertical propulsion of the underwater robot.
3. An underwater robot as claimed in claim 2, wherein: the first propulsion mechanism is provided with a first propeller and an automatic adjusting system, and the first propeller is in transmission connection with the automatic adjusting system;
the automatic regulating system is provided with a gyroscope, a first stepping motor and a connecting mechanism, wherein the first stepping motor is fixedly connected with the frame body, the gyroscope is fixedly arranged in the first stepping motor, the connecting mechanism is fixedly arranged on the surface of the first propeller, the middle shaft of the connecting mechanism is perpendicular to the left side surface, the first stepping motor is in transmission connection with one end of the connecting mechanism, and the other end of the connecting mechanism is fixedly connected with the frame body;
the gyroscope is used for sensing the route of the underwater robot and sending a vertical correction signal to the first stepping motor;
the connecting mechanism is used for axially rotating the first propeller perpendicular to the left side surface;
the first stepping motor drives one end of the connecting mechanism to rotate.
4. An underwater robot as claimed in claim 3, wherein: the connecting mechanism is provided with a first connector end, a second connector end and a first bearing;
the second connector end is provided with a first shaft end and a second recess, the first shaft end is matched with the first recess and the through hole of the first bearing respectively, the second recess is used for accommodating the first bearing, and the first bearing is embedded in the second recess;
the second connector end is fixedly arranged on the frame body, and the first connector end is fixedly arranged on the surface of the first propeller and is in transmission connection with the first stepping motor; the first shaft end is movably connected with the second connector end through the second concave part and the first bearing.
5. An underwater robot as claimed in claim 2, wherein: the camera shooting mechanism is provided with an angle adjusting mechanism and a camera, the angle adjusting mechanism is fixedly connected with the frame body, and the camera is in transmission connection with the angle adjusting mechanism.
6. An underwater robot as claimed in claim 5 wherein: the angle regulator is provided with a second stepping motor, a first control mechanism and a connecting shaft, wherein the first control mechanism is arranged in an electronic bin of the underwater robot and is connected with the second stepping motor in an electric signal manner, the second stepping motor is in transmission connection with one end of the connecting shaft, and the other end of the connecting shaft is in transmission connection with the camera;
the first control mechanism receives signals through wires or wirelessly and sends out electric signals to the second stepping motor;
the first stepping motor rotates the camera in the axial direction perpendicular to the center axis of the camera through the switching mechanism.
7. The underwater robot of claim 6 wherein: the electronic bin is fixedly arranged on the side surface opposite to the upper bottom surface of the frame body, and the side surface is defined as a lower bottom surface;
the frame body comprises a floating plate and a frame which are fixedly arranged on the upper bottom surface of the frame body, wherein the floating plate is provided with notches matched with the second propelling mechanism at two opposite sides respectively;
the first propulsion mechanism, the second propulsion mechanism, the first light compensation mechanism and the second light compensation mechanism are respectively arranged in two;
the gravity center of the underwater robot and the total action point of buoyancy are on the same vertical line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711117440.5A CN107718015B (en) | 2017-11-13 | 2017-11-13 | Underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711117440.5A CN107718015B (en) | 2017-11-13 | 2017-11-13 | Underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107718015A CN107718015A (en) | 2018-02-23 |
| CN107718015B true CN107718015B (en) | 2023-09-15 |
Family
ID=61215316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711117440.5A Active CN107718015B (en) | 2017-11-13 | 2017-11-13 | Underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107718015B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972580B (en) * | 2018-07-17 | 2020-11-13 | 吉安县森博木业有限公司 | Water quality table environment shoots and gathers intelligent equipment and uses parallelly connected manipulator |
| CN109591989B (en) * | 2018-07-30 | 2021-08-10 | 上海大学 | Deep sea organism in-situ observation three-dimensional camera fixing and adjusting device suitable for carrying operation of deep sea manned submersible vehicle |
| CN109795661B (en) * | 2019-03-06 | 2023-05-23 | 天津海之星水下机器人有限公司 | Underwater survey robot propulsion device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH442792A (en) * | 1965-04-22 | 1967-08-31 | Bell & Howell Co | Device to compensate for random movements of optical devices |
| CN2524258Y (en) * | 2002-01-24 | 2002-12-04 | 天津大学 | LED lights for color compensation of under water photograph |
| CN102006464A (en) * | 2010-12-02 | 2011-04-06 | 江西海豹高科技有限公司 | Cruising type direct underwater video monitoring system |
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
| CN107102496A (en) * | 2017-05-08 | 2017-08-29 | 浙江大华技术股份有限公司 | A kind of light compensating apparatus, camera lens and camera device |
| CN107509065A (en) * | 2017-10-09 | 2017-12-22 | 广州海豹光电科技有限公司 | A kind of band cleaning and the underwater video acquisition system of light compensation function |
| CN207788967U (en) * | 2017-11-13 | 2018-08-31 | 广州天地智能科技有限公司 | A kind of underwater robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5676856B2 (en) * | 2009-05-08 | 2015-02-25 | キヤノン株式会社 | Image acquisition device with adaptive optics |
-
2017
- 2017-11-13 CN CN201711117440.5A patent/CN107718015B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH442792A (en) * | 1965-04-22 | 1967-08-31 | Bell & Howell Co | Device to compensate for random movements of optical devices |
| CN2524258Y (en) * | 2002-01-24 | 2002-12-04 | 天津大学 | LED lights for color compensation of under water photograph |
| CN102006464A (en) * | 2010-12-02 | 2011-04-06 | 江西海豹高科技有限公司 | Cruising type direct underwater video monitoring system |
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
| CN107102496A (en) * | 2017-05-08 | 2017-08-29 | 浙江大华技术股份有限公司 | A kind of light compensating apparatus, camera lens and camera device |
| CN107509065A (en) * | 2017-10-09 | 2017-12-22 | 广州海豹光电科技有限公司 | A kind of band cleaning and the underwater video acquisition system of light compensation function |
| CN207788967U (en) * | 2017-11-13 | 2018-08-31 | 广州天地智能科技有限公司 | A kind of underwater robot |
Non-Patent Citations (1)
| Title |
|---|
| 抖动补偿技术在水下摄像系统中的应用;吴艳青;;自动化仪表(第12期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107718015A (en) | 2018-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107718015B (en) | Underwater robot | |
| KR101142144B1 (en) | Fish lamp device | |
| Cowen et al. | Underwater docking of autonomous undersea vehicles using optical terminal guidance | |
| JP4105745B2 (en) | Fish collecting lamp device and fishing method using the same | |
| JP6581874B2 (en) | Autonomous unmanned submersible charging system | |
| CN201393283Y (en) | Underwater camera monitoring system in high turbid water regions | |
| CN102006464A (en) | Cruising type direct underwater video monitoring system | |
| CN102004373A (en) | Underwater imaging device for annular laser lighting | |
| CN204405869U (en) | Non-homogeneous large light field target image sniffer | |
| CN110562419A (en) | Multi-fin cooperation driving robotic fish based on vision | |
| WO2016141723A1 (en) | Apparatus and method for detecting target image of large non-uniform light field | |
| CN207788967U (en) | A kind of underwater robot | |
| CN201674574U (en) | Bar type shallow water underwater detection camera device | |
| CN218496775U (en) | Crawler-type hull underwater detection device | |
| CN214985989U (en) | Underwater video image acquisition robot | |
| CN212241120U (en) | Tripod head device capable of internally routing and three-dimensional scanning equipment robot | |
| CN109507658A (en) | A kind of comprehensive tracing positioning device of underwater robot coastal waters bed motion | |
| CN211152048U (en) | Unmanned marine illumination camera device of listening | |
| CN210734464U (en) | Multi-fin cooperation driving robotic fish based on vision | |
| CN207510691U (en) | A kind of rotatable underwater robot of camera | |
| KR20100084241A (en) | Fishing system for underwater induction | |
| CN209193382U (en) | Deep-sea mobile TV grab bucket based on deep-sea mobile platform | |
| CN108116639B (en) | Underwater propulsion system capable of automatically correcting course | |
| CN220662827U (en) | Multifunctional underwater cruising robot | |
| CN1373359A (en) | Video image probing rod |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |