CN105818944B - A kind of remote control submarine applied to undersea detection - Google Patents

A kind of remote control submarine applied to undersea detection Download PDF

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Publication number
CN105818944B
CN105818944B CN201610203127.2A CN201610203127A CN105818944B CN 105818944 B CN105818944 B CN 105818944B CN 201610203127 A CN201610203127 A CN 201610203127A CN 105818944 B CN105818944 B CN 105818944B
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CN
China
Prior art keywords
remote control
host
submarine
module
control submarine
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CN201610203127.2A
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Chinese (zh)
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CN105818944A (en
Inventor
侯鹏
徐岷
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深圳潜水侠创新动力科技有限公司
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Priority to CN201610203127.2A priority Critical patent/CN105818944B/en
Publication of CN105818944A publication Critical patent/CN105818944A/en
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Publication of CN105818944B publication Critical patent/CN105818944B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, 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
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48Means for searching for underwater objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Abstract

The present invention relates to a kind of remote control submarines applied to undersea detection, including:It is remotely controlled submarine host;Controller for sending out control signal control remote control submarine host operation;The display for observing underwater environment in real time is connect with controller;And the signal transceiver being connect with remote control submarine host is set more than the water surface or the water surface;The remote control submarine host includes:Waterproof case, peephole, dynamical system, master control system, sensing system, image capturing system and power module;Described image acquisition system includes:Lighting circuit plate, camera and high beam, dipped headlight, infrared ray light compensating lamp and ultraviolet light searchlight.The remote control submarine can not only help the people without diving experience to observe sub-marine situations in real time, also can underwater environment be easily found out in advance for diving personnel do not know waters, it provides and illuminates and track and record diving process, it is and small by effect of natural conditions, additionally it is possible to help diving personnel quickly to emerge and escape danger.

Description

A kind of remote control submarine applied to undersea detection

Technical field

The present invention relates to undersea detection field more particularly to a kind of remote control submarines applied to undersea detection.

Background technology

The desire for finding out the underwater world with the mankind gradually increases, and the people to dive under water by oxygen cylinder is more and more.In weather In the case of in order, diving observation can be carried out in underwater 20 meters by natural light, but more than 20 meters natural lights can not reach It needs by submersible lighting fixture, meanwhile, to record underwater situation, need the underwater camera-shooting and recording device for carrying profession.But it dives under water Personnel need by professional training, and diving equipment is heavy expensive, and carrying out dive in unfamiliar waters can also be to the life of people Safety threatens, in such a way that tradition is dived under water under observation water the world mode can not rapid large-area it is universal;And it is more next Personage mostly without diving experience also thirst for peeping it is underwater existing undersea detection device is influenced by weather conditions actually, When encountering that weather condition is bad or the more complicated waters of landform ocean current can also hinder the exploration process of people.

Therefore, the existing technology needs to be improved and developed.

Invention content

In view of above-mentioned deficiencies of the prior art, it is latent that the purpose of the present invention is to provide a kind of remote controls applied to undersea detection Ship, to overcome undersea detection inconvenience in the prior art, unsafe problem.

Technical scheme is as follows:

A kind of remote control submarine applied to undersea detection, including:It is remotely controlled submarine host;Institute is controlled for sending out control signal State the controller of remote control submarine host operation;The display for observing underwater environment in real time is connect with the controller;Setting The signal transceiver being connect with the remote control submarine host more than the water surface or the water surface;

The remote control submarine host includes:The peephole in the waterproof case front end is arranged in waterproof case, is arranged in institute The dynamical system for driving the remote control submarine host motion on waterproof case is stated, the use in the waterproof case is set In the master control system for controlling the remote control submarine host operation, the sensor for measuring the remote control submarine host operating parameter The Image Acquisition system for shooting underwater environment and uploading image/video to the display is arranged after the peephole in system System, and for the power module to the remote control submarine host supplying power;

Described image acquisition system includes:The lighting circuit plate being arranged on the inside of the peephole is arranged in the illumination Camera among circuit board, and the high beam, dipped headlight, the infrared ray light compensating lamp and ultraviolet that are arranged on the lighting circuit plate Line searchlight.

The remote control submarine applied to undersea detection, the controller, the display with the signal transmitting and receiving Device is connected by wireless communication mode;The remote control submarine host is connect with the signal transceiver by cable.

The remote control submarine applied to undersea detection, the sensing system include:It is arranged in the remote control submarine On host, the attitude transducer for measuring the remote control underwater posture of submarine host;It is arranged on the remote control submarine host, Depth transducer for measuring the remote control submarine host submerged depth;It is arranged on the remote control submarine host, for surveying Measure the sonar sensor of underwater obstacles and the remote control submarine host distance;It is arranged on the remote control submarine host, is used for Measure the Temperature Humidity Sensor of humiture inside the remote control submarine host;It is arranged on the remote control submarine host, for surveying Measure the velocity sensor of the remote control submarine main engine trial speed;It is arranged on the remote control submarine host, it is described for measuring It is remotely controlled the optical imaging sensor of submarine host ambient enviroment.

The remote control submarine applied to undersea detection, the high beam, the dipped headlight, the infrared ray light compensating lamp And the ultraviolet light searchlight be both provided with it is multiple;The dipped headlight is arranged around the camera;The infrared ray light compensating lamp, The ultraviolet light searchlight is all symmetricly set on the both sides of the camera;The high beam is symmetricly set on the lighting circuit The both ends of plate.

The remote control submarine applied to undersea detection, the centre of the waterproof case are provided with described anti-up and down The first kind duct of water shell, the both sides of the waterproof case are symmetrical arranged that there are two Second Type ducts;

The dynamical system includes:Lifting motor and elevating screw in the first kind duct are set;Setting Propulsion electric machine and propelling screws in the Second Type duct.

The remote control submarine applied to undersea detection, the signal transceiver include:For managing the power supply mould The energy supply control module of block, the first signal transmitting and receiving module for sending and receiving signal are connect with the remote control submarine host Signal cable.

The remote control submarine applied to undersea detection, the master control system include:Main control board is arranged in master control Main control chip, second signal transceiver module, motor drive module, camera control module on circuit board and memory module;

The second signal transceiver module, the motor drive module, the camera control module and the memory module It is electrically connected with the main control chip;

The second signal transceiver module, for receiving control signal, uploading image/video and sensing data;The electricity Machine drive module, for driving the lifting motor and the propulsion electric machine to run;The camera control module, for controlling State camera shooting image/video;The memory module, for storing image/video and sensing data.

The remote control submarine applied to undersea detection, the controller include:Control for generating control signal Module, the first communication module for sending out control signal.

The remote control submarine applied to undersea detection, the display include:Second communication module, data store mould Block and data processing and display module;

The second communication module, for receiving the data information uploaded;The data memory module is received for storing The data information arrived;The data processing and display module for handling the data information received, and show corresponding image Video and sensing data.

The remote control submarine applied to undersea detection, the display be intelligent mobile terminal, separate display screens and One kind of VR glasses.

The beneficial effects of the invention are as follows:A kind of remote control submarine applied to undersea detection provided by the invention, including:Remote control Submarine host;Controller for sending out control signal control remote control submarine host operation;It is connect with controller for seeing in real time Examine the display of underwater environment;And the signal transceiver being connect with remote control submarine host is set more than the water surface or the water surface;It is described Being remotely controlled submarine host includes:Waterproof case, peephole, dynamical system, master control system, sensing system, image capturing system and Power module;Described image acquisition system includes:Lighting circuit plate, camera and high beam, dipped headlight, infrared ray light compensating lamp With ultraviolet light searchlight.The remote control submarine can not only help the people without diving experience to observe sub-marine situations in real time, also can Underwater environment is easily found out in advance for diving personnel and does not know waters, and illumination is provided and tracks and records diving process, Er Qieshou Effect of natural conditions is small, additionally it is possible to help diving personnel quickly to emerge and escape danger.

Description of the drawings

Fig. 1 is the structural schematic diagram for the remote control submarine preferred embodiment that the present invention is applied to undersea detection.

Fig. 2 is the structural schematic diagram of remote control submarine host preferred embodiment of the present invention.

Fig. 3 is the vertical view of remote control submarine host preferred embodiment of the present invention.

Fig. 4 is the structural schematic diagram of image capturing system preferred embodiment of the present invention.

Fig. 5 is the structural schematic diagram of lighting system preferred embodiment of the present invention.

Fig. 6 is the principle schematic of master control system preferred embodiment of the present invention.

Fig. 7 is the fundamental diagram of the remote control submarine of the present invention applied to undersea detection.

Specific implementation mode

The present invention provides a kind of remote control submarine applied to undersea detection, to make the purpose of the present invention, technical solution and effect Fruit is clearer, clear, and the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.It should be appreciated that this place The specific embodiment of description is only used to explain the present invention, is not intended to limit the present invention.

The remote control submarine applied to undersea detection of present pre-ferred embodiments, as shown in Figure 1, including:It is remotely controlled submarine master Machine 1;Controller 2 for sending out 1 operation of control signal control remote control submarine host;It is connect with controller 2 for observing in real time The display 3 of underwater environment;The signal transceiver 4 being connect with remote control submarine host 1 in 10 or more the water surface is set.In other implementations In example, signal transceiver 4 can also be arranged on the water surface, that is, swim in water surface.

Further, also referring to Fig. 2, Fig. 3, Fig. 6 and Fig. 7, remote control submarine host 1 includes:Waterproof case 61, setting Peephole 62 in 61 front end of waterproof case, what is be arranged on waterproof case 61 is dynamic for driving remote control submarine host 1 to move Force system (not shown), the master control system 8 for controlling 1 operation of remote control submarine host being arranged in waterproof case 61, is used for The sensing system 9 for measuring 1 operating parameter of remote control submarine host, is arranged after peephole 62 for shooting underwater environment and uploading Image capturing system (not shown) of the image/video to display 3;And the power module 5 for powering to remote control submarine host 1; Power module 5 (built-in power), that is, an internal battery group are arranged in the inside of remote control submarine host 1, and can tear open It unloads, is convenient for changing repair.Preferably, remote control submarine host 1 can also external power supply, can flexibly select to set according to actual conditions It sets.Remote control submarine host 1 is arranged in the water surface hereinafter, being the underwater main equipment for executing command adapted thereto.Waterproof case 61 that is to say It is remotely controlled submarine host main body, for carrying hydraulic pressure and preventing water from flowing into remote control submarine host 1, is set in protection remote control submarine host 1 Standby safety.

Further, as shown in Figure 4 and Figure 5, described image acquisition system includes:Illumination in 62 inside of peephole is set The camera 72 among lighting circuit plate 71, high beam 73, the dipped beam being arranged on lighting circuit plate 71 is arranged in circuit board 71 Lamp 74, infrared ray light compensating lamp 75 and ultraviolet light searchlight 76.Wherein, high beam 73 is used for searchlighting distant place water environment, dipped headlight 74 for closely illuminating, and infrared light compensating lamp 75 carries out light filling use, ultraviolet light searchlight 76 for improving image taking effect For capture light environment it is bad in the case of animals and plants form;Lighting circuit plate 71 is for controlling high beam 73, dipped headlight 74, the switch of infrared ray light compensating lamp 75 and ultraviolet light searchlight 76.Lighting circuit plate 71, high beam 73, dipped headlight 74, infrared ray Light compensating lamp 75 and ultraviolet light searchlight 76 constitute lighting system.In addition, in other embodiments, also being set on lighting circuit plate 71 It is equipped with multiple feux rouges lamp beads, purple light lamp bead and white light lamp bead, is respectively intended to provide feux rouges, purple light and white light, it is further to improve Light filling effect.

It is well known that under weather conditions good situations, diving observation can be carried out in underwater 20 meters by natural light, but More than 20 meters natural lights can not reach needs by submersible lighting fixture, therefore, to record underwater situation, need to carry profession Underwater camera-shooting and recording device, it is expensive, it is inconvenient.Submarine is remotely controlled described in the embodiment of the present invention, the configuration camera shooting system after surveillance mirror System, while it being equipped with the above specific lighting system again, it is capable of providing illumination, is also convenient for finding out underwater environment in advance not for diver Clear waters is also convenient for track record diving process.

Preferably, high beam 73, dipped headlight 74, infrared ray light compensating lamp 75 and ultraviolet light searchlight 76 are both provided with multiple, For example, as shown in Figure 3, Figure 4, high beam 73, infrared ray light compensating lamp 75 and ultraviolet light searchlight 76 all install 2, dipped headlight 74 Installation 6;Meanwhile dipped headlight 73 being arranged around camera 72;Infrared ray light compensating lamp 75, ultraviolet light searchlight 76 is all symmetrical It is arranged in the both sides of camera 72;High beam 73 is symmetricly set on to the both ends of lighting circuit plate 71, to reach most suitable photograph Obvious results fruit, convenient for the track up of the image/video of diving process.

Further, as shown in Fig. 1, Fig. 6, signal transceiver 4 includes:Signal cable 41 (signal cable), power management Module (not shown) and the first signal transmitting and receiving module 42;Signal cable 41 is connect with remote control submarine host 1;The power management mould Block is electrically connected with power module 5, for managing power module 5;First signal transmitting and receiving module 42 is for sending and receiving signal.It is excellent Choosing, it is also equipped with power supply inside signal transceiver 4:That is signal transceiver power supply (not shown), and this power supply and power supply mould Block 5 is relatively independent, and under normal circumstances, the signal transceiver power supply is served only for giving signal transceiver 4 power itself, still When the electricity of power module 5 exhausts, the signal transceiver power supply also can temporarily provide electric energy and give remote control submarine host 1.Letter Number transceiver 4 receives remote signal and instruction conduction is gone down, and plays the relaying action of signal transmission.

Further, as shown in Figure 6, Figure 7, master control system 8 includes:Main control board 80 (master control PCB circuit board), setting Main control chip 81, second signal transceiver module 82 on main control board 80, motor drive module 83, camera control module 84 With memory module 85;Second signal transceiver module 82, motor drive module 83, camera control module 84, memory module 85 and photograph Bright circuit board 71 (lighting module) is electrically connected with the main control chip 81;Wherein lighting circuit plate 71 and the main control chip 81 Electric connection mode be conducting wire connection, winding displacement connection or connector (connector) connection one kind.Second signal transceiver module 82, It is electrically connected with the first signal transmitting and receiving module 42, for receiving control signal, uploading image/video and sensing data;Motor drives Module 83 is electrically connected with driving lifting motor 65, the first propulsion electric machine 661, the second propulsion electric machine 663, for driving lifting electricity Machine 65, the first propulsion electric machine 661 and the operation of the second propulsion electric machine 662;Camera control module 84 is electrically connected with camera 72, is used for It controls camera 72 and shoots image/video;Memory module 85 is for storing image/video and sensing data, it is preferred that setting is deposited Storage module 85 is a storage card, is conveniently replaceable.It should be noted simultaneously that the camera control module 84 of master control system 8 is additionally operable to The image/video of shooting is changed into digital signal.

Preferably, controller 2, the display 3 for submarine being remotely controlled described in the embodiment of the present invention pass through nothing with signal transceiver 4 Line communication modes connect;As shown in Figure 1, remote control submarine host 1 is connect with signal transceiver 4 by signal cable 41, specifically, As shown in fig. 6, the second signal transceiver module 82 of master control system 8 and the first signal transmitting and receiving module 42 of signal transceiver 4 are electrically connected It connects, image/video is uploaded to display 3 by second signal transceiver module 82 by the first signal transmitting and receiving module 42, that is to say, that First, the digital signal of image/video is uploaded to signal transceiver 4 by master control system 8 by signal cable 41, and then signal is received The digital signal of image/video is uploaded to display 3 by hair device 4 by Radio Transmission Technology, and last display 3 is received and shown Image/video.In addition, may also set up controller 2, display 3 is connect with signal transceiver 4 by wired mode, that is, pass through line Cable connects, to improve the stability of signal.It should be noted that the image/video information stored is needed to be stored in remote control submarine It on storage card (memory module 85) in host, is saved on mobile phone if necessary, and will by remote control submarine host 1 Image video files in storage card are reached by signal transceiver 4 to be preserved on mobile phone.

Further, in the embodiment of the present invention, controller 2 is to make submarine host 1 according to instruction for sending out telecommand The equipment for executing corresponding task.When concrete application, the control command that controller 2 is sent out is passed to by wireless communication mode first Then signal transceiver 4 reaches submarine host 1 along signal cable 41 by signal transceiver 4 and executes corresponding operation.Controller 2 include:Control module for generating control signal, the first communication module for sending out control signal.Controller 2 can be used Wireless controller, or intelligent mobile terminal, such as smart mobile phone, tablet computer etc..

Further, in the embodiment of the present invention, display 3 is for allowing the people on the water surface to see sub-marine situations in real time The equipment seen, display 3 include:Second communication module, data memory module and data processing and display module;Described second is logical Module is believed, for receiving the data information uploaded;The data memory module, for storing the data information received;It is described Data processing and display module for handling the data information received, and show corresponding image/video and sensing data. Mobile phone, tablet computer or separate display screens can be used in display 3, it is possible to use VR glasses watch 3D realtime graphics.In other words, Display 3 can be intelligent mobile terminal, one kind of separate display screens and VR glasses.

Further, also referring to Fig. 2, Fig. 3 and Fig. 6, the centre of waterproof case 61 is provided with outside waterproof up and down The first kind duct of shell 61:First duct 63, the both sides of waterproof case 61 are symmetrical arranged that there are two Second Type ducts:Second Duct 641 and third duct 642;The dynamical system includes:The lifting motor 65 and lifting spiral shell being arranged in the first duct 63 Revolve paddle 67;The first propulsion electric machine 661 being arranged in the second duct 641 and the first propelling screws (not shown), setting is the The second propulsion electric machine 662 in three ducts 642 and the second propelling screws 682.

That is, dynamical system 9 is made of three motors and propeller, wherein lifting motor and elevating screw are installed In in the duct of remote control submarine host middle part up and down, other two propulsion electric machine and propelling screws are installed on remote control submarine In the duct that host both sides become a mandarin.Two propelling screws, which are located at both sides, can make remote control submarine host advance and retreat, when distant When controlling submarine host forward or backward, in the case of the propelling screws rotating speed difference of both sides, remote control submarine host can realize steering; When remote control submarine host stops in situ, the direction of rotation of adjustment both sides propelling screws can realize pivot stud.Positioned at distant Elevating screw in control submarine host perforation duct can provide floating dive, be both also adjustable remote control submarine host bow Face upward posture.

Further, as shown in fig. 6, sensing system 9 includes:Setting (specifically may be provided on remote control submarine host 1 In waterproof case 61), the attitude transducer 91 for measuring 1 underwater posture of remote control submarine host;Setting is in remote control submarine host 1 Upper (specifically may be provided on waterproof case 61), the depth transducer 92 for measuring 1 submerged depth of remote control submarine host;Setting It (specifically may be provided in waterproof case 61) on remote control submarine host 1, for measuring underwater obstacles and remote control submarine host 1 The sonar sensor 93 of distance;Setting (specifically may be provided in waterproof case 61) on remote control submarine host 1, distant for measuring Control the Temperature Humidity Sensor 94 of 1 inside humiture of submarine host;Setting (specifically may be provided at waterproof on remote control submarine host 1 In shell 61), the velocity sensor 95 for measuring 1 headway of remote control submarine host;Setting is on remote control submarine host 1 (specifically may be provided in waterproof case 61), the optical imaging sensor 96 for measuring 1 ambient enviroment of remote control submarine host.Appearance State sensor 91, depth transducer 92, sonar sensor 93, Temperature Humidity Sensor 94, velocity sensor 95 and optical imagery pass Sensor 96 is electrically connected with main control chip 81.Additionally, it is preferred that, 3-axis acceleration biography can be also set on remote control submarine host 1 Sensor, for detecting collision and impact suffered by remote control submarine host 1.

Wherein, the attitude transducer 91 includes three-axis gyroscope, can perceive remote control submarine host posture in water, when When by external disturbance, remote control submarine host can carry out posture according to the data that three-axis gyroscope acquires by augmentation control system It corrects.Being remotely controlled submarine host 1 can be according to the depth data for 1 dive of remote control submarine host that depth sensing 92 measures, and adjustment is dynamic The lifting motor of Force system and the operation conditions of elevating screw control submerged depth.It is former that sonar sensor is based on sound wave reflection Disturbance of perception object is managed at a distance from remote control submarine host, reference is provided for avoidance.

In the embodiment of the present invention, the various sensing datas that controller 2 is measured according to sensing system 9 send out remote control letter Number, the power system operation of control remote control submarine host 1 realizes that remote control submarine host 1 advances under water, retreats, rise, dive, Turn left in traveling, turns right in traveling, flicker, the movement of flicker and pitching, to realize captured in real-time under water HD video and candid photograph high definition photo.In addition, it is necessary to explanation, the various sensings that above-described sensing system 9 measures Device data, and signal transceiver 4 is uploaded to by signal cable 41 by master control system 8, then signal transceiver 4 is by wireless Sensing data is uploaded to display 3 by transmission technology, and last display 3 receives and shows various sensing datas.

Further, as shown in fig. 7, the operation principle of the remote control submarine for being applied to undersea detection of the embodiment of the present invention For:Controller 2 is wirelessly connected with signal transceiver 4, and control signal (control instruction) is sent to signal transmitting and receiving by wireless technology Device 4, signal transceiver 4 is reached by signal cable 41 after translating the control signal and is remotely controlled submarine host 1, by remote control submarine Host 1 executes corresponding control instruction;At the same time, master of the remote control submarine host 1 by the image/video taken inside Image/video is changed into digital signal by control system 8, and by the digital signal of image/video and sensing data along signal cable 41 Signal transceiver 4 is reached, signal transceiver 4 reaches the digital signal of image/video and sensing data by wireless transmission aobvious Show device 3, so as to allow people to see underwater situation in real time and monitor the operation conditions of remote control submarine host 1.It needs to illustrate It is that controller 2 can not only send out the control signal for making remote control submarine host 1 move, can also sends out control described image acquisition System carries out the associated command signal of image/video shooting.

It, can be people capable of being helped to follow one's inclinations in the case of water under employment using being remotely controlled submarine described in the embodiment of the present invention The desired underwater world of observation not only assists in the people without diving experience and observes sub-marine situations in real time, can also be carried for diving personnel Before find out the noncommittal waters of underwater environment, for diving personnel provide necessary underwater lighting and track and record shooting diving it is complete Process;Also latent bat can be carried out for water under people by being remotely controlled submarine in the case where natural conditions are not suitable for diving, scene will be shot It is stored in the memory card in remote control submarine host, is copied into computer afterwards and can carry out playing back and shared;It is sent out in diving personnel When raw fortuitous event, the remote control manipulator on the water surface can have found and manipulate underwater submarine to become an interim lifesaving in time Equipment, personnel, which float, under water supply provides certain auxiliary pulling force, helps diver quickly to emerge and escape danger.

Therefore, a kind of remote control submarine applied to undersea detection provided by the invention, including:It is remotely controlled submarine host;For Send out the controller of control signal control remote control submarine host operation;It is connect with controller for observing the aobvious of underwater environment in real time Show device;And the signal transceiver being connect with remote control submarine host is set more than the water surface or the water surface;The remote control submarine host packet It includes:Waterproof case, peephole, dynamical system, master control system, sensing system, image capturing system and power module;The figure As acquisition system includes:Lighting circuit plate, camera and high beam, dipped headlight, infrared ray light compensating lamp and ultraviolet light searchlight. The remote control submarine can not only help the people without diving experience to observe sub-marine situations in real time, also can be easily diving personnel Underwater environment is found out in advance and does not know waters, illumination is provided and tracks and records diving process, and is small by effect of natural conditions, also Diving personnel can be helped quickly to emerge to escape danger.

It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can With improvement or transformation based on the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention Protect range.

Claims (6)

1. a kind of remote control submarine applied to undersea detection, which is characterized in that including:It is remotely controlled submarine host;For sending out control Signal controls the controller of the remote control submarine host operation;It is connect with the controller for observing the aobvious of underwater environment in real time Show device;The signal transceiver being connect with the remote control submarine host is set more than the water surface or the water surface;
The remote control submarine host includes:The peephole in the waterproof case front end is arranged in waterproof case, and setting is described anti- The dynamical system for driving the remote control submarine host motion on water shell, what is be arranged in the waterproof case is used to control The master control system for making the remote control submarine host operation, the sensor system for measuring the remote control submarine host operating parameter The Image Acquisition system for shooting underwater environment and uploading image/video to the display is arranged after the peephole in system System, and for the power module to the remote control submarine host supplying power;
Described image acquisition system includes:The lighting circuit plate being arranged on the inside of the peephole is arranged in the lighting circuit Camera among plate, and the high beam, dipped headlight, infrared ray light compensating lamp and the ultraviolet light that are arranged on the lighting circuit plate are visited Illuminator;
The centre of waterproof case is provided with the first duct of waterproof case up and down, and the both sides of waterproof case are symmetrically arranged with Two ducts and third duct;The dynamical system includes:The lifting motor and elevating screw being arranged in the first duct;Setting The first propulsion electric machine in the second duct and the first propelling screws, the second propulsion electric machine being arranged in third duct and Two propelling screws;
The both sides that first propelling screws and the second propelling screws are located at waterproof case make remote control submarine host advance and retreat, When being remotely controlled submarine host forward or backward, in the case of the first propelling screws and the second propelling screws rotating speed difference, Remote control submarine host can realize steering;When be remotely controlled submarine host stop it is in situ when, adjust both sides the first propelling screws and The direction of rotation of second propelling screws can realize pivot stud;Elevating screw provides floating dive and adjusts remote control submarine master The pitch attitude of machine;
The controller, the display are connect with the signal transceiver by wireless communication mode;The remote control submarine Host is connect with the signal transceiver by cable;
The sensing system includes:It is arranged on the remote control submarine host, it is underwater for measuring the remote control submarine host The attitude transducer of posture;It is arranged on the remote control submarine host, for measuring the remote control submarine host submerged depth Depth transducer;It is arranged on the remote control submarine host, for measuring underwater obstacles and the remote control submarine host distance Sonar sensor;It is arranged on the remote control submarine host, the temperature for measuring humiture inside the remote control submarine host Humidity sensor;It is arranged on the remote control submarine host, the speed for measuring the remote control submarine main engine trial speed passes Sensor;It is arranged on the remote control submarine host, the optical imagery sensing for measuring the remote control submarine host ambient enviroment Device;
The high beam, the dipped headlight, the infrared ray light compensating lamp and the ultraviolet light searchlight are both provided with multiple;It is described Dipped headlight is arranged around the camera;The infrared ray light compensating lamp, the ultraviolet light searchlight are all symmetricly set on described take the photograph As the both sides of head;The high beam is symmetricly set on the both ends of the lighting circuit plate.
2. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the signal transceiver packet It includes:Energy supply control module for managing the power module, the first signal transmitting and receiving module for sending and receiving signal, with The signal cable of the remote control submarine host connection.
3. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the master control system packet It includes:Main control board, the main control chip being arranged on main control board, second signal transceiver module, motor drive module, camera shooting Control module and memory module;
The second signal transceiver module, the motor drive module, the camera control module and the memory module with The main control chip electrical connection;
The second signal transceiver module, for receiving control signal, uploading image/video and sensing data;The motor drives Dynamic model block, for driving the lifting motor and the propulsion electric machine to run;The camera control module, for controlling described take the photograph As head shoots image/video;The memory module, for storing image/video and sensing data.
4. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the controller includes: Control module for generating control signal, the first communication module for sending out control signal.
5. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the display includes: Second communication module, data memory module and data processing and display module;
The second communication module, for receiving the data information uploaded;The data memory module is received for storing Data information;The data processing and display module for handling the data information received, and show corresponding image/video And sensing data.
6. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the display is intelligence One kind of mobile terminal, separate display screens and VR glasses.
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