CN106314733A - Unmanned underwater photographing robot - Google Patents
Unmanned underwater photographing robot Download PDFInfo
- Publication number
- CN106314733A CN106314733A CN201610950940.6A CN201610950940A CN106314733A CN 106314733 A CN106314733 A CN 106314733A CN 201610950940 A CN201610950940 A CN 201610950940A CN 106314733 A CN106314733 A CN 106314733A
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- CN
- China
- Prior art keywords
- submersible
- relay
- communication device
- unmanned underwater
- machine people
- 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.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Abstract
The invention discloses an unmanned underwater photographing robot which comprises a submersible device and a relay device, wherein the submersible device comprises a first photographing device, a first laser communication device and a diving driving device; the relay device comprises a second laser communication device, a first wireless communication device and a relay driving device; the diving driving device is used for driving the submersible device to move; the first laser communication device is used for transmitting image data photographed by the first photographing device to the second laser communication device through the laser; the relay device is used for recognizing the submersible device; the relay driving device is used for driving the relay device to follow the submersible device according to a result of recognizing the submersible device, so that the second laser communication device can receive the image data transmitted by the first laser communication device; and the first wireless communication device is used for wirelessly transmitting the image data received by the second laser communication device to a control device. The unmanned underwater photographing robot can better photograph underwater and can supply a real-time video or image to a user.
Description
[technical field]
The present invention relates to a kind of unmanned underwater photography machine people.
[background technology]
Patent documentation CN105818944A discloses a kind of remote control submarine being applied to undersea detection, wherein, remote control submarine
Cable 41 it is connected between main frame 1 and signal transceiver 4, although, this kind of remote control submarine also has been able to water in some cases
Lower shooting, but, there is a lot of problem in this kind of submarine under many circumstances.
[summary of the invention]
Find through research, in above-mentioned prior art, owing to being connected between remote control submarine main frame 1 and signal transceiver 4
Cable 41, even if in the case of there is the tiny barriers such as pasture and water under water, cable 41 is easily wound or stops, causes distant
Control submarine main frame 1 cannot navigate by water further.
In order to overcome the deficiencies in the prior art, the invention provides a kind of unmanned underwater photography machine people, it is thus possible to
Enough the most preferably shoot, it is possible to provide the user real-time video or image.
A kind of unmanned underwater photography machine people, including submersible, also includes that relay, described submersible include the
One photographic attachment, the first laser communication device and diving driving means, described relay include the second laser communication device, the
One radio communication device and relaying driving means, described diving driving means is used for driving described submersible to move, and described first
Laser communication device is for leading to described second laser by Laser Transmission the view data of described first photographic attachment shooting
T unit, described relay is used for identifying described submersible, and described relaying driving means is according to the knot identifying described submersible
Fruit drives relay to follow described submersible so that described second laser communication device is able to receive that described first laser
The view data of communication device transfers, described first radio communication device is for receiving described second laser communication device
Described view data is by radioing to control device.
Preferably, described relay also includes that the second photographic attachment, described second photographic attachment are used for shooting described diving
Hydrophone, described relay is according to submersible described in the image recognition of the described submersible of shooting.
Preferably, described submersible also includes gyroscope and the first sonar communications set, and described relay also includes
Two sonar communications sets, described gyroscope is for calculating the displacement information of described submersible, and described first sonar communications set is used
In institute's displacement information is sent to described second sonar communications set, described relay is according to institute's displacement information identification also
Follow described submersible.
Preferably, when submersible described in described relay None-identified, described relaying driving means drives described relaying
Device is according to setting orbiting motion, until described relay recognizes described submersible.
Preferably, described relay also includes relaying locating module and relaying battery, and described submersible also includes diving
Battery, described relaying locating module is for obtaining the current geographic position of described relay, and described relay is worked as described
Front geographical position is sent to described submersible, and the described submersible described current geographic position of calculating, to the distance of initial position, is sentenced
Whether the dump energy of disconnected described diving battery and the difference travelling described distance institute subfam. Spiraeoideae set power threshold scope first,
The most described submersible makes a return voyage to described initial position.
Preferably, described submersible also includes submersible locating module, when described first sonar communications set is when setting
When being not received by the information that described second sonar communications set sends in length, described submersible floats up to set more than the depth of water,
Described submersible locating module obtains the current geographic position of described submersible, and described submersible is according to described current location and just
Beginning position, makes a return voyage to described initial position.
Preferably, described relay calculates described current geographic position to the distance of initial position, it is judged that described relaying
Whether the dump energy of battery and the difference travelling described distance institute subfam. Spiraeoideae set power threshold scope, the most then institute second
State relay to make a return voyage to described initial position, and return to described initial position to the described submersible transmission described submersible of control
The control command of boat.
Preferably, after the order of the tracking shooting target setting that the reception of described submersible sends from described relay,
Utilize target setting described in image automatic tracking technology track up.
Preferably, described relay runs on the water surface, or in water more than set depth.
Preferably, also including controlling device, described control device is for controlling described submersible by described relay
Motion and shooting.
Preferably, described control device includes the display screen for showing described view data.
Preferably, described control device is for being connected with mobile terminal, AR terminal or MR terminal.
The invention has the beneficial effects as follows:
Owing to not using wire cable, the present invention can't occur background technology goes out between relay and submersible
The existing problem being easily wound.Simultaneously as water declining to common radio magnetic wave (such as 3G, 4G, WIFI equifrequent)
Subtract very big, which limits the submerged depth of the submersible utilizing above-mentioned radio magnetic wave, and the usual nothing of the bandwidth of sonar communication
Method meets the requirement of real time imaging transmission, therefore uses laser communication between relay and the submersible of the present invention, the most permissible
Realize the requirement of bigger diving depth, it is also possible to meet realtime image data transmission bandwidth requirement, it is often more important that, by
The device Real time identification that continues also follows submersible, it is ensured that can laser communication between relay and submersible.
[accompanying drawing explanation]
Accompanying drawing is unmanned underwater photography machine people's theory diagram of an embodiment of the present invention
[detailed description of the invention]
Preferred embodiment to invention is described in further detail below.
As shown in drawings, the unmanned underwater photography machine people of a kind of embodiment, including submersible, relay and control
Device processed.Described submersible includes dive under water battery, the first photographic attachment, the first laser communication device, the first sonar communications set
With diving driving means, described relay include relaying battery, the second laser communication device, the second sonar communications set, the
One radio communication device and relaying driving means, control device and include that radio communication device, described diving driving means are used for driving
Dynamic described submersible motion.
Submersible underwater run, the first photographic attachment is used for shooting underwater environment, can with track up moving target,
Can also static shooting target setting.Relay can run on the water surface, it is also possible to transports more than the slight depth of underwater
OK, device is controlled by the radio communication device the first radio communication device transmitting control commands to relay, relay
The second laser communication device (or second sonar communications set) control command is sent to the first laser communication of submersible
Device (or first sonar communications set), thus realize the control to submersible, such as, the control to the running status of submersible
System, as risings, dive, advance, the action such as retrogressing, it is also possible to the target shooting the first photographic attachment of submersible sets
Fixed, control the first photographic attachment and the tracking of target setting is shot, such as, utilize image automatic tracking technology to target setting
Follow the trail of shooting.
The view data that first photographic attachment shoots is sent to the second laser of relay by the first laser communication device
Communicator, the view data (including picture, video) that the second laser communication device is received by the first radio communication device is led to
Cross the Laser Transmission radio communication device to control device, thus control device and can obtain real-time underwater video image, supply
User watches.
Laser communication distance between submersible and relay has certain restriction, owing to the position of submersible there will be
Mobile, in order to ensure the laser communication between submersible and relay, described relay needs to follow submersible so that institute
State the view data that the second laser communication device is able to receive that described first laser communication device is wirelessly transferred.Relay can
To identify described submersible, relaying driving means then drives relay to follow described submersible according to recognition result.
In such scheme, it is to avoid using wire cable between relay and submersible, laser communication simultaneously can expire
The bandwidth requirement of foot view data transmission.
In one embodiment, relay identifies described submersible by arranging its second photographic attachment arranged,
Described second photographic attachment is used for shooting described submersible, and described relay is according to the image recognition institute shooting described submersible
State submersible；The view data of the second photographic attachment shooting can also be transferred to control dress by described first radio communication device
Put.In another embodiment, submersible also includes gyroscope, and gyroscope is for calculating the displacement information of described submersible, institute
State the first sonar communications set for institute's displacement information being sent to described second sonar communications set, described relay root
According to institute's displacement information identification and follow described submersible.Such as, in the t0 moment, submersible and relay can pass through laser
Communication, in the t1 moment, it is S that gyroscope is calculated the displacement of submersible, and displacement S transport is given second by the first sonar communications set
Sonar communications set, moving displacement S also followed by relay such that it is able to ensure that laser communication is unimpeded between the two.
In one embodiment, described relay also includes relaying locating module, during navigation, and relaying location mould
Block obtains the current geographic position of described relay in real time, in the case of relay keeps laser communication with submersible
(now the geographical position between relay and submersible can be considered as identical), in real time by the current geographic position of relay
Send (can be transmitted by laser communication or sonar communication) to submersible, submersible according to current geographic position with when setting out
Initial position calculate journey distance in real time, the dump energy of real-time judge diving battery goes journey apart from required electricity described in travelling
Whether the difference of amount sets power threshold scope first, and the most described submersible makes a return voyage to described initial position.Such as, may be used
Rule of thumb to arrange the relation between submersible distance to go and power consumption, when the difference of dump energy with the institute's subfam. Spiraeoideae that makes a return voyage exists
Time between 0-Q1, even if being not received by the control command maked a return voyage, submersible makes a return voyage the most automatically, it is possible to send to relay
The notification message maked a return voyage.
In one embodiment, due to special circumstances, when the dump energy of submersible is not enough to make a return voyage, submersible is permissible
Automatically float.
Described relay calculates described current geographic position to the distance of initial position, it is judged that described relaying battery surplus
Whether remaining electricity and the difference travelling described distance institute subfam. Spiraeoideae set power threshold scope (such as 0-Q2) second, the most then
Described relay makes a return voyage to described initial position, and sends the described submersible of control to described initial position to described submersible
The control command maked a return voyage, that is, relay and submersible together make a return voyage.
In one embodiment, when submersible described in described relay None-identified, described relaying driving means is driven
Dynamic described relay is according to setting orbiting motion, until described relay recognizes described submersible.Such as, relay
With position during None-identified submersible as initial point, circle to identify submersible setting radius.
In one embodiment, described submersible also includes that submersible locating module, described submersible locating module are used for
Obtain the geographical location information of described submersible, when described first sonar communications set is not received by described in setting duration
The information that second sonar communications set sends (such as controls information, or the connection when relay does not send control information
Network information) time, the most in this case, submersible and relay have had been out contacting, and therefore, described submersible floats
To setting more than the depth of water (the such as water surface, or close in the water of the water surface), described submersible locating module obtains described submersible
Current geographic position, described submersible, according to described current location and initial position, makes a return voyage to described initial position.
The geographical location information of relay can also be sent to control dress by the first radio communication device of relay
Put, in order to user grasps the geographical position of relay and the geographical position of submersible at any time (at relay and submersible
Between do not lose communication in the case of).Above-mentioned locating module can be GPS module or Big Dipper module etc..
Described control device can include controlling battery, it is also possible to includes the display screen for showing described view data,
So that user can watch real-time video under water or image.Controlling device can also with mobile terminal, AR terminal or MR eventually
End connects, and user can watch video or image in these terminals, it might even be possible to control submersible.
Submersible may be equipped with depth transducer, to measure submerged depth, can set maximum diving depth, work as the degree of depth
Automatically safety depth is floated to after being above standard；Installation site sensor, it is achieved avoiding obstacles function automatically；Can also include
Photographic attachment stabilising arrangement, so that the view data of shooting is more stable；Can installation manipulator outside submersible.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of present inventive concept, it is also possible to make some simple deduction or replace, all should be considered as belonging to the present invention by
The scope of patent protection that the claims submitted to determine.
Claims (10)
1. a unmanned underwater photography machine people, including submersible, is characterized in that, also includes relay, described diving
Device includes the first photographic attachment, the first laser communication device and diving driving means, and described relay includes that the second laser leads to
T unit, the first radio communication device and relaying driving means, described diving driving means is used for driving described submersible to move,
Described first laser communication device is for giving described the by the view data of described first photographic attachment shooting by Laser Transmission
Dual-laser communicator, described relay is used for identifying described submersible, and described relaying driving means is described latent according to identifying
The result of hydrophone drives relay to follow described submersible so that described second laser communication device is able to receive that described
The view data of the first laser communication device transmission, described first radio communication device is for by described second laser communication device
The described view data received is by radioing to control device.
Unmanned underwater photography machine people the most as claimed in claim 1, is characterized in that, described relay also includes second
Photographic attachment, described second photographic attachment is used for shooting described submersible, and described relay is according to shooting described submersible
Submersible described in image recognition.
Unmanned underwater photography machine people the most as claimed in claim 1, is characterized in that, described submersible also includes gyroscope
With the first sonar communications set, it is described that described relay also includes that the second sonar communications set, described gyroscope are used for calculating
The displacement information of submersible, described first sonar communications set is for being sent to described second sonar communication by institute's displacement information
Device, described relay is according to institute's displacement information identification and follows described submersible.
Unmanned underwater photography machine people the most as claimed in claim 1, is characterized in that,
When submersible described in described relay None-identified, described relaying driving means drives described relay according to setting
Orbiting motion, until described relay recognizes described submersible.
Unmanned underwater photography machine people the most as claimed in claim 3, is characterized in that,
Described relay also include relay locating module and relaying battery, described submersible also include dive under water battery, described in
The locating module that continues is for obtaining the current geographic position of described relay, and described current geographic position is sent out by described relay
Give described submersible, the distance of the described submersible described current geographic position of calculating to initial position, it is judged that described diving electricity
Whether the dump energy in pond and the difference travelling described distance institute subfam. Spiraeoideae set power threshold scope first, the most described
Submersible makes a return voyage to described initial position.
Unmanned underwater photography machine people the most as claimed in claim 5, is characterized in that, described submersible also includes submersible
Locating module, sends when described first sonar communications set is not received by described second sonar communications set in setting duration
Information time, described submersible floats up to set more than the depth of water, and described submersible locating module obtains the current of described submersible
Geographical position, described submersible, according to described current location and initial position, makes a return voyage to described initial position.
Unmanned underwater photography machine people the most as claimed in claim 5, is characterized in that,
Described relay calculates described current geographic position to the distance of initial position, it is judged that the residue electricity of described relaying battery
Whether amount and the difference travelling described distance institute subfam. Spiraeoideae set power threshold scope second, the most described relay to
Described initial position makes a return voyage, and sends, to described submersible, the control life that the described submersible of control makes a return voyage to described initial position
Order.
Unmanned underwater photography machine people the most as claimed in claim 1, is characterized in that, described submersible receives from described
After the order following the trail of shooting target setting that relay sends, utilize setting mesh described in image automatic tracking technology track up
Mark.
Unmanned underwater photography machine people the most as claimed in claim 1, is characterized in that, described relay runs on the water surface
On, or in water more than set depth.
Unmanned underwater photography machine people the most as claimed in claim 1, is characterized in that, also includes controlling device, described control
Device processed for controlling motion and the shooting of described submersible by described relay.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610950940.6A CN106314733B (en) | 2016-10-26 | 2016-10-26 | A kind of unmanned underwater photography machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610950940.6A CN106314733B (en) | 2016-10-26 | 2016-10-26 | A kind of unmanned underwater photography machine people |
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| CN106314733A true CN106314733A (en) | 2017-01-11 |
| CN106314733B CN106314733B (en) | 2018-04-20 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329470A (en) * | 2017-06-07 | 2017-11-07 | 北京臻迪科技股份有限公司 | A kind of control method for the robot that paddles, device and the robot that paddles |
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
| CN107703934A (en) * | 2017-08-24 | 2018-02-16 | 北京臻迪科技股份有限公司 | A kind of control method and device of unmanned boat |
| CN108012077A (en) * | 2017-11-10 | 2018-05-08 | 北京臻迪科技股份有限公司 | Camera control method, photographic method, apparatus and system |
| CN108320487A (en) * | 2017-12-28 | 2018-07-24 | 北京臻迪科技股份有限公司 | A kind of underwater equipment means of communication and system |
| CN109490897A (en) * | 2018-12-20 | 2019-03-19 | 唐山哈船科技有限公司 | A kind of underwater picture information carrying means and its application method based on sonar |
| CN109508031A (en) * | 2018-11-29 | 2019-03-22 | 广西师范学院 | A kind of undersea robot |
| CN109507658A (en) * | 2018-11-21 | 2019-03-22 | 浙江大学 | A kind of comprehensive tracing positioning device of underwater robot coastal waters bed motion |
| CN109911153A (en) * | 2019-02-28 | 2019-06-21 | 苏州臻迪智能科技有限公司 | A kind of unmanned machine of fixable type switching camera angle |
| CN110233990A (en) * | 2019-05-28 | 2019-09-13 | 深圳市奥德兰科技有限公司 | A kind of method and apparatus of underwater wireless high definition photography |
| WO2020124496A1 (en) * | 2018-12-20 | 2020-06-25 | 唐山哈船科技有限公司 | Sonar-based underwater image information transmission apparatus and method for using same |
| CN112970245A (en) * | 2020-06-04 | 2021-06-15 | 深圳市大疆创新科技有限公司 | Control method, information processing apparatus, photographing apparatus, and photographing system |
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| CN107329470A (en) * | 2017-06-07 | 2017-11-07 | 北京臻迪科技股份有限公司 | A kind of control method for the robot that paddles, device and the robot that paddles |
| CN107329470B (en) * | 2017-06-07 | 2021-06-29 | 北京臻迪科技股份有限公司 | Control method and device of wading robot and wading robot |
| CN107703934A (en) * | 2017-08-24 | 2018-02-16 | 北京臻迪科技股份有限公司 | A kind of control method and device of unmanned boat |
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
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| CN108012077B (en) * | 2017-11-10 | 2021-03-26 | 北京臻迪科技股份有限公司 | Photographing control method, photographing method, device and system |
| CN108320487B (en) * | 2017-12-28 | 2021-11-16 | 臻迪科技股份有限公司 | Underwater equipment communication method and system |
| CN108320487A (en) * | 2017-12-28 | 2018-07-24 | 北京臻迪科技股份有限公司 | A kind of underwater equipment means of communication and system |
| CN109507658A (en) * | 2018-11-21 | 2019-03-22 | 浙江大学 | A kind of comprehensive tracing positioning device of underwater robot coastal waters bed motion |
| CN109508031A (en) * | 2018-11-29 | 2019-03-22 | 广西师范学院 | A kind of undersea robot |
| CN109490897A (en) * | 2018-12-20 | 2019-03-19 | 唐山哈船科技有限公司 | A kind of underwater picture information carrying means and its application method based on sonar |
| CN109490897B (en) * | 2018-12-20 | 2020-06-05 | 唐山哈船科技有限公司 | Underwater image information transmission device based on sonar and use method thereof |
| WO2020124496A1 (en) * | 2018-12-20 | 2020-06-25 | 唐山哈船科技有限公司 | Sonar-based underwater image information transmission apparatus and method for using same |
| CN109911153A (en) * | 2019-02-28 | 2019-06-21 | 苏州臻迪智能科技有限公司 | A kind of unmanned machine of fixable type switching camera angle |
| CN109911153B (en) * | 2019-02-28 | 2021-01-26 | 苏州臻迪智能科技有限公司 | Unmanned equipment capable of fixedly switching camera shooting angle |
| CN110233990A (en) * | 2019-05-28 | 2019-09-13 | 深圳市奥德兰科技有限公司 | A kind of method and apparatus of underwater wireless high definition photography |
| CN112970245A (en) * | 2020-06-04 | 2021-06-15 | 深圳市大疆创新科技有限公司 | Control method, information processing apparatus, photographing apparatus, and photographing system |
| WO2021243660A1 (en) * | 2020-06-04 | 2021-12-09 | 深圳市大疆创新科技有限公司 | Control method, information processing device, capturing device, and capturing system |
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| CN106314733B (en) | 2018-04-20 |
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