CN100355537C - Underwater robot for observing holothurian culture - Google Patents
Underwater robot for observing holothurian culture Download PDFInfo
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- CN100355537C CN100355537C CNB200410087564XA CN200410087564A CN100355537C CN 100355537 C CN100355537 C CN 100355537C CN B200410087564X A CNB200410087564X A CN B200410087564XA CN 200410087564 A CN200410087564 A CN 200410087564A CN 100355537 C CN100355537 C CN 100355537C
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- underwater robot
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- video camera
- sea cucumber
- propeller
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- 241000251511 Holothuroidea Species 0.000 title claims abstract description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 230000001681 protective effect Effects 0.000 claims abstract description 10
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- VVQNEPGJFQJSBK-UHFFFAOYSA-N Methyl methacrylate Chemical compound COC(=O)C(C)=C VVQNEPGJFQJSBK-UHFFFAOYSA-N 0.000 claims description 3
- 229920005372 Plexiglas® Polymers 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 2
- 238000004458 analytical method Methods 0.000 abstract description 3
- 238000009395 breeding Methods 0.000 abstract 1
- 230000001488 breeding effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000003321 amplification Effects 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
- 238000009360 aquaculture Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 244000144974 aquaculture Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention discloses an underwater robot for observing sea cucumber culture, which consists of an overwater part and an underwater part, wherein the overwater part comprises a power unit, a control unit and a display unit, and the underwater part takes an underwater robot body as a core; the display unit takes a video monitor as a core and is connected with a character superimposer and a video recorder; the underwater robot body consists of a propeller, a camera, a compass, a lighting lamp, a cable, a protection frame, a buoyancy bin and a support, wherein a left horizontal propeller and a right horizontal propeller are installed in the horizontal direction, a vertical propeller is installed in the vertical direction at the rear part of the buoyancy bin, and the protection frame and the buoyancy bin are installed together; a camera and an illuminating lamp are arranged at the front part of the buoyancy cabin, and the camera is connected to a monitor in the water display part through a shielded cable; and a north arrow is arranged on the protective frame. The invention can directly transmit the underwater image to the water surface, and the image can be stored for analysis and use by breeding experts.
Description
Technical field
The present invention is a kind of development technology of novel underwater robot, is a kind of underwater robot that is used for observation of sea cucumber culture specifically.
Technical background
China has the wide water surface to carry out aquaculture, such as the breed of sea cucumber, abalone etc.In the growth course of sea cucumber, often observe the growing state of sea cucumber, according to the distribution situation of sea cucumber, in time carry out replenishing of sea cucumber seedling in the seabed.According to the observation water-bed feed how much throw in bait, avoid waste.In the maturity period of sea cucumber, observe sea cucumber, determine best sea cucumber harvest time.Above-mentioned observation for sea cucumber at present all is to judge by diver's perusal, and what the diver observed is limited in scope, and because they are not the holothruian cultures professionals, can not give holothruian cultures expert information very accurately.
Summary of the invention
The purpose of this invention is to provide and a kind ofly can directly be sent to the water surface to image under water, and image can store, support the underwater robot of growing the underwater observation that analysis expert uses.
To achieve these goals, design starting point of the present invention: the underwater robot that is used for the sea cucumber observation has special requirement, and little as volume, in light weight, safe and reliable, with low cost, electric power is low, can determine that robot is in marine position.The present invention is intended to satisfy the major requirement that above-mentioned sea cucumber is observed, and reduces the number of sensors of underwater robot as far as possible.Concrete scheme is:
Form by two parts under water waterborne, connect by cable; Above water comprises power unit, control module, display unit three parts, and power unit is made up of generator and voltage-stabilized power supply, for waterborne, provide the AC and DC power supply under water; Control module is made up of interconnective control single pole, control circuit; Display unit is a core with the video-frequency monitor, is connected with character adder, video recorder; Underwater portion is the underwater robot body, form by propeller, video camera, compass, illuminating lamp, cable, protective frame, buoyant cabin, support, horizontal direction is installed left horizontal propeller, right horizontal propeller, at the buoyant cabin rear portion, vertical direction is installed vertical pusher, at the buoyant cabin middle part, and on support, protective frame and buoyant cabin are installed together; At anterior video camera, the illuminating lamp installed of buoyant cabin, video camera is by the monitor of shielded cable to the display part waterborne; Compass is installed on protective frame;
Wherein video camera becomes 40～50 degree with the illuminating lamp mounting means with horizontal sextant angle; Wherein compass is installed on the oblique lower position of video camera, to guarantee the having image demonstration of compass to be as the criterion in the video monitor screen in display unit; Wherein the buoyant cabin front portion is transparent plexiglass tent; Wherein video camera can select the half-light type to use video camera under water, or common ccd video camera; Wherein on support, can add counterweight; String has buoyant spheres on the wherein said cable;
Wherein control circuit comprises the control circuit of horizontal direction and the control circuit of vertical direction in the control module, wherein:
The single pole control signal that the control circuit of horizontal direction receives advance and retreat, turns to, at first adjust the adjustment coupling that match circuit carries out signal by signal, again through the signal limiter circuit to the signal conversion, carrying out polarity simultaneously judges, the control signal of polarity decision circuitry is given power stage, and power stage exports the motor of underwater robot propeller to;
The control circuit of vertical direction receives vertical single pole control signal, at first through adjusting the adjustment coupling that match circuit carries out signal, then through signal limiter to signal conversion circuit, carrying out polarity simultaneously judges, the control signal of polarity decision circuitry is given power stage, and power stage exports the motor of underwater robot propeller to.
The present invention has following advantage:
1, characteristics of the present invention mainly show: simple and reliable, volume is little, and cost is low.According to the actual instructions for use of observation of sea cucumber culture, it has removed some sensors that can save.Direction indication be not the compass that need electricity, but the compass of water-stop.The signal of compass is observed by television image, reduces the core number of cable conductor.
2, the body of underwater robot of the present invention does not have electronic circuit board, has increased reliability and has reduced maintenance needs.
3, auxiliary equipment of the present invention is few, so the volume of underwater robot body design is little, in light weight, easy to carry and use.
4, with low cost, be fit to produce in batches.
5, the present invention also can be used for other aquaculture.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.
Fig. 2 is a control box structure chart among Fig. 1.
Fig. 3 is that video-frequency monitor shows schematic diagram among Fig. 1.
Fig. 4 is a underwater robot body frame for movement schematic diagram among Fig. 1.
Fig. 5 is the theory diagram of the control circuit of horizontal direction of the present invention.
Fig. 6 is the control circuit schematic diagram of horizontal direction of the present invention.
Fig. 7 is the theory diagram of the control circuit of vertical direction of the present invention.
Fig. 8 is the control circuit schematic diagram of vertical direction of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
The present invention is a kind of cable underwater observation robot under water that has.Form (Fig. 1) by two parts under water waterborne, connect by cable; Above water comprises, power unit, control module, display unit three parts.Power unit can be made up of diesel-driven generator or gasoline engine generator and voltage-stabilized power supply, for waterborne, provide the AC and DC power supply under water, AC power is powered to display unit.Control module is made up of control single pole, control circuit, and the operator pulls that single pole just can be controlled the advancing of underwater robot, retreats, turns left, turns right, rises, time degradation moves.The control single pole is installed in the control box, links to each other with control circuit, as shown in Figure 2 (among the figure: 84 is left and right horizontal propeller single pole, and 85 is the vertical pusher single pole, and 9 is the video camera switch, and 10 is braces).Display unit is a core with the video-frequency monitor, is connected with character adder, video recorder, can be real-time on video-frequency monitor see under water situation, and by the video recorder record video image, the analysis after being provided with is used.Video-frequency monitor can be selected the simplest 9 inches black-and-white television for use, and clearer picture can be observed by the videocorder playback; By character adder, can be by the position of manually importing present ship at any time, the length of restriction underwater robot cable, underwater robot and lash ship are under the little situation of the relative distance of horizontal plane, and the position of robot just can be thought in the position of lash ship.
As shown in Figure 4, underwater portion is the underwater robot body.Body is made up of propeller, video camera 1, compass 2, illuminating lamp 3, cable 4, protective frame 5, buoyant cabin 6, support 7, and propeller has three, by the direct current generator drive screw rotation of configuration.Horizontal direction is installed left and right horizontal propeller 81,82, is installed in buoyant cabin 6 rear portions, control the advancing of robot, retreat, motions such as left side biography, right-hand rotation.Vertical direction is installed vertical pusher 83, is installed in buoyant cabin 6 middle parts, and on support 7, the control robot rises, descending motion.Protective frame 5 is installed together with buoyant cabin 6; At left front of buoyant cabin 6 video camera 1 is installed, by the monitor of shielded cable to the display part waterborne; Right front portion at buoyant cabin 6 is installed an illuminating lamp 3; Buoyant cabin 6 front portions are transparent plexiglass tents.Video camera 1 can select the half-light type to use video camera under water, or common ccd video camera.Video camera 1 and illuminating lamp 3 are all aimed at tiltedly below (being 45 degree with horizontal sextant angle promptly), the situation (video camera need not be installed on the The Cloud Terrace like this) of being convenient to observe the seabed.A waterproof sealing compass 2 is installed on protective frame 5, in video camera 1 oblique lower position, guarantee that the lower right corner of video monitor screen has the image of compass 2 to show in display unit, can directly see the reading (as shown in Figure 3) of compass 2, like this can be without the cable transmission signal.Underwater robot does not need the fitting depth meter, can judge the height of underwater robot apart from the bottom by video camera 1, to save the core number of sensor and cable.Do not have circuit board on the body under water of underwater robot, reduce the possibility that underwater robot damages, reduce maintenance workload.
By binding lead counterweight on support 7, make the underwater robot body that small positive buoyancy be arranged.Because the volume of underwater robot body is little, load capacity is poor, so cable waterborne, that connect under water is adopted as neutral buoyancy.Cable is made the cable of neutral buoyancy at the outside string of cable buoyancy ball.Described cable is given 3 propeller motors, illuminating lamp power supply respectively, also is used for to video camera power supply and transmission video signal.
The all control circuit of underwater robot of the present invention is convenient to the maintenance of circuit entirely on the water very much.Control circuit waterborne comprises, the control circuit that control circuit that the control underwater robot advances in the horizontal direction, retreats, turns left, turns right and control underwater robot rise, descend.The signal of control circuit amplifies through the linear power of power stage, and promote direct current generator and rotate, the rotation of driven by motor screw, driven machine human body carries out different motions.
Control circuit comprises the control circuit of horizontal direction and the control circuit of vertical direction in the control module, wherein:
Referring to Fig. 5, the single pole control signal that the control circuit of horizontal direction receives advance and retreat, turns to is at first adjusted the adjustment coupling that match circuit carries out signal by signal, again through the signal limiter circuit to the signal conversion, carry out polarity simultaneously and judge; The control signal of polarity decision circuitry is given power stage, makes the power stage commutation, and then controls turning to of underwater robot motor.Underwater robot will be done corresponding motion as requested.
Referring to Fig. 6, the control circuit of horizontal direction, specifically the circuit of being made up of the 1st～2,6～7 operational amplifier IC1～IC2, IC6～IC7 carries out signal adjustment match circuit, and realizes turning to function.The 1st～4,8～11 diode D1～D4, D8～D11 forms the signal limiter circuit, plays the function of amplitude limit respectively.The signal conversion circuit that the 3rd～4,8～9 operational amplifier IC3～IC4 and IC8～IC9 forms is realized the function of signal conversion respectively, makes control signal become 0～5V.5th, 10 operational amplifier IC5 and IC10 carry out the polarity judgement.The 16th～17 linear power amplifier IC16～IC17 forms power stage, and power stage exports the motor of the left and right horizontal propeller of underwater robot to.
As shown in Figure 7, the control circuit of vertical direction receives vertical single pole control signal, at first through adjusting the adjustment coupling that match circuit carries out signal, then through signal limiter to signal conversion circuit, carrying out polarity simultaneously judges, the control signal of polarity decision circuitry is given power stage, makes the power stage commutation, controls turning to of underwater robot motor.
Fig. 8 is the control circuit of vertical direction, and specifically the circuit of being made up of the 11st operational amplifier IC11 carries out signal adjustment coupling, and the 15th～18 diode D15～D18 forms the signal limiter circuit, plays the function of amplitude limit; The signal conversion circuit that the 12nd～1 3 operational amplifier IC12～IC13 forms is realized the function of signal conversion.The 14th operational amplifier IC14 carries out polarity and judges.The 15th linear power amplifier IC15 constitutes power stage, and power stage exports the motor of underwater robot vertical pusher to.
Operating process of the present invention and result are:
The underwater robot body is a underwater sealing, and the operator is by pulling the motion of single pole control underwater robot body.The control signal of single pole horizontal direction, the circuit of delivering to IC1, IC2 and IC6, IC7 composition carries out the signal adjustment, and realizes turning to function.D1～D4 and D8～D11 play the function (making signal be up to 5V) of amplitude limit respectively.The circuit that IC4 and IC9 form is realized the function of signal conversion respectively, make control signal from-5V～+ 5V becomes 0～5V.IC5 and IC10 carry out polarity and judge (being to judge that the single pole signal is to advance or retreat, is to turn left or turn right).The linear amplification module of power can be bought ready-made product.The power signal of the linear amplification module output of power is given 2 propeller motors of horizontal direction on the underwater robot body by cable, the motion on the control underwater robot horizontal direction.The control signal of single pole vertical direction, the circuit of giving the IC11 composition carries out the signal adjustment.D15～D18 plays the function (making signal be up to 5V) of amplitude limit.The circuit that IC13 forms realize the signal conversion function (-5V～+ control signal of 5V becomes the control signal of 0～5V).IC14 carries out polarity and judges (judging that the single pole signal is to rise or descend).The linear amplification module of power can be bought ready-made product.The power signal of the linear amplification module output of power is given the propeller motor of vertical direction on the underwater robot body by cable, the motion on the control underwater robot vertical direction.
Video camera on the underwater robot body is that the underwater picture of taking the photograph is delivered to monitor waterborne by shielded cable in the buoyant cabin 6 of sealing, and by video recorder, can writes down the content of taking the photograph.On monitor image, can see the position of the robot of robot course that compass shows and character adder mark.
Above water of the present invention send control and drives signal to underwater portion, motions such as control underwater robot body rises, descends, advances, retreats, left biography, right-hand rotation.Above-water video-frequency monitor receives the vision signal of underwater portion video camera 1, observes the growing state of sea cucumber under water.
The present invention is applicable to the aquatic products of other sea or freshwater aquiculture simultaneously.
Volume of the present invention little (long 40 centimetres, wide 30 centimetres) is when moving under water, little to the influence of sea cucumber.Convenient carrying in light weight and use.Safe and reliable, easy to use also is an important indicator of the present invention.Culture the expert and be unfamiliar with for high-tech product, also do not have maintainability, in order to make the dependable performance of underwater robot, the present invention reduces the sensor of underwater robot to greatest extent, but will satisfy the requirement that sea cucumber is observed fully.Reduce underwater electronic equipment as far as possible, accomplish anhydrous circuit board down.These designs can improve the reliability of underwater robot greatly.The ship that is used to observe sea cucumber all is a dinghy, and a System for Small Power Diesel Generator can only be installed on sampan, and the power of underwater robot is low, and the volume of used diesel-driven generator is just little.Because power is little, also can use battery as power source.
Claims (7)
1. a underwater robot that is used for observation of sea cucumber culture is characterized in that: be made up of two parts under water waterborne, connect by cable; Above water comprises power unit, control module, display unit three parts, and power unit is made up of generator and voltage-stabilized power supply, for waterborne, provide the AC and DC power supply under water; Control module is made up of interconnective control single pole, control circuit; Display unit is a core with the video-frequency monitor, is connected with character adder, video recorder; Underwater portion is the underwater robot body, form by propeller, video camera (1), compass (2), illuminating lamp (3), cable (4), protective frame (5), buoyant cabin (6), support (7), in buoyant cabin (6) rear horizontal direction left horizontal propeller (81), right horizontal propeller (82) are installed, go up vertical direction installation vertical pusher (83) at buoyant cabin (6) middle part and in support (7), protective frame (5) is installed together with buoyant cabin (6); At anterior video camera (1), the illuminating lamp (3) installed of buoyant cabin (6), video camera (1) is by the monitor of shielded cable to the display part waterborne; Compass (2) is installed on protective frame (5); Wherein compass (2) is installed on the oblique lower position of video camera, to guarantee the having image demonstration of compass (2) to be as the criterion in the video monitor screen in display unit.
2. according to the described underwater robot that is used for observation of sea cucumber culture of claim 1, it is characterized in that: wherein oblique below is all aimed in the installation of video camera and illuminating lamp, becomes 40～50 degree with horizontal sextant angle.
3. according to the described underwater robot that is used for observation of sea cucumber culture of claim 1, it is characterized in that: wherein buoyant cabin (6) front portion is transparent plexiglass tent.
4. according to the described underwater robot that is used for observation of sea cucumber culture of claim 1, it is characterized in that: wherein video camera (1) selects the half-light type to use video camera under water, or common ccd video camera.
5. according to the described underwater robot that is used for observation of sea cucumber culture of claim 1, it is characterized in that: wherein on support (7), add counterweight.
6. according to the described underwater robot that is used for observation of sea cucumber culture of claim 1, it is characterized in that: string has buoyant spheres on the wherein said cable.
7. according to the described underwater robot that is used for observation of sea cucumber culture of claim 1, it is characterized in that: wherein control circuit comprises the control circuit of horizontal direction and the control circuit of vertical direction in the control module, wherein:
The single pole control signal that the control circuit of horizontal direction receives advance and retreat, turns to, at first adjust the adjustment coupling that match circuit carries out signal by signal, again through the signal limiter circuit to the signal conversion, carrying out polarity simultaneously judges, the control signal of polarity decision circuitry is given power stage, and power stage exports the motor of underwater robot left side horizontal propeller (81), right horizontal propeller (82) to;
The control circuit of vertical direction receives vertical single pole control signal, at first through adjusting the adjustment coupling that match circuit carries out signal, then through signal limiter to signal conversion circuit, carrying out polarity simultaneously judges, the control signal of polarity decision circuitry is given power stage, and power stage exports the motor of underwater robot vertical pusher (83) to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNB200410087564XA CN100355537C (en) | 2004-11-17 | 2004-11-17 | Underwater robot for observing holothurian culture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410087564XA CN100355537C (en) | 2004-11-17 | 2004-11-17 | Underwater robot for observing holothurian culture |
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| CN1778530A CN1778530A (en) | 2006-05-31 |
| CN100355537C true CN100355537C (en) | 2007-12-19 |
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| CNB200410087564XA Expired - Fee Related CN100355537C (en) | 2004-11-17 | 2004-11-17 | Underwater robot for observing holothurian culture |
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| CN101661804B (en) * | 2008-08-28 | 2012-08-29 | 国核电站运行服务技术有限公司 | Radiation resistant underwater monitoring robot |
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| CN105118202A (en) * | 2015-09-01 | 2015-12-02 | 青岛森科特智能仪器有限公司 | Alarming and monitoring system and method for sea cucumber culture farm with artificial reefs |
| CN107071366A (en) * | 2017-05-08 | 2017-08-18 | 武汉理工大学 | A kind of ship podded propeller real-time imaging monitoring system |
| CN107682678B (en) * | 2017-11-03 | 2023-07-18 | 四川中科水务科技有限公司 | Water area safety video monitoring and displaying system |
| CN108032314A (en) * | 2018-01-19 | 2018-05-15 | 美钻能源科技(上海)有限公司 | A kind of underwater culture robot and its method |
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| CN1778530A (en) | 2006-05-31 |
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