CN106314733B - A kind of unmanned underwater photography machine people - Google Patents
A kind of unmanned underwater photography machine people Download PDFInfo
- Publication number
- CN106314733B CN106314733B CN201610950940.6A CN201610950940A CN106314733B CN 106314733 B CN106314733 B CN 106314733B CN 201610950940 A CN201610950940 A CN 201610950940A CN 106314733 B CN106314733 B CN 106314733B
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- China
- Prior art keywords
- submersible
- relay
- laser
- machine people
- unmanned underwater
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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 a kind of unmanned underwater photography machine people, including submersible and relay, submersible includes the first camera, first laser communicator and diving driving device, relay includes second laser communicator, first radio communication device and relaying driving device, diving driving device is used to drive submersible to move, first laser communicator is used to the view data of the first camera shooting being transferred to second laser communicator by laser, relay is used to identify submersible, relaying driving device drives relay to follow submersible according to the result of identification submersible, second laser communicator is enabled to receive the view data of first laser communication device transfers, the view data that first radio communication device is used to receive second laser communicator is by radioing to control device.The present invention can preferably be shot under water, and can provide real-time video or image to the user.
Description
【Technical field】
The present invention relates to a kind of unmanned underwater photography machine people.
【Background technology】
Patent document CN105818944A discloses a kind of remote control submarine applied to undersea detection, wherein, it is remotely controlled submarine
Cable 41 is connected between host 1 and signal transceiver 4, although such a remote control submarine can also complete water in some cases
Lower shooting, still, there are many problems for such a submarine under many circumstances.
【The content of the invention】
By research find, it is above-mentioned in the prior art, due to remote control submarine host 1 and signal transceiver 4 between be connected to
Cable 41, though under water there are the tiny barrier such as water plant in the case of, cable 41 is easily wound or stops, causes distant
Control submarine host 1 can not be navigated by water further.
For overcome the deficiencies in the prior art, the present invention provides a kind of unmanned underwater photography machine people, so as to
It is enough preferably to be shot under water, and real-time video or image can be provided to the user.
A kind of unmanned underwater photography machine people, including submersible, further include relay, and the submersible includes the
One camera, first laser communicator and diving driving device, the relay include second laser communicator, the
One radio communication device and relaying driving device, the diving driving device are used to drive the submersible to move, and described first
Laser communication device leads to for the view data of first camera shooting to be transferred to the second laser by laser
T unit, the relay are used to identify the submersible, and the relaying driving device is according to the knot for identifying the submersible
Fruit drives relay to follow the submersible so that the second laser communicator can receive the first laser
The view data of communication device transfers, first radio communication device are used for receive the second laser communicator
Described image data are by radioing to control device.
Preferably, the relay further includes the second camera, and second camera is used to shoot described latent
Hydrophone, relay submersible according to the image recognition for shooting the submersible.
Preferably, the submersible further includes gyroscope and the first sonar communications set, and the relay further includes
Two sonar communications sets, the gyroscope are used for the displacement information for calculating the submersible, and first sonar communications set is used
In institute's displacement information is sent to second sonar communications set, the relay identifies simultaneously according to institute's displacement information
Follow the submersible.
Preferably, when submersible described in the relay None- identified, the relaying driving device drive the relaying
Device is according to the movement of setting track, until the relay recognizes the submersible.
Preferably, the relay further includes relaying locating module and relaying battery, and the submersible further includes diving
Battery, the relaying locating module are used for the current geographic position for obtaining the relay, and the relay described will be worked as
Preceding geographical location is sent to the submersible, and the submersible calculates the current geographic position to the distance of initial position, sentences
The remaining capacity of the disconnected diving battery with whether travelling the difference apart from institute's electricity demand in the first setting power threshold scope,
If so, then the submersible makes a return voyage to the initial position.
Preferably, the submersible further includes submersible locating module, when first sonar communications set is in setting
When the information that second sonar communications set is sent is not received by length, the submersible floats up to more than the setting depth of water,
The submersible locating module obtains the current geographic position of the submersible, and the submersible is according to the current location and just
Beginning position, make a return voyage to the initial position.
Preferably, the relay calculates the current geographic position to the distance of initial position, judges the relaying
The remaining capacity of battery and travel whether the difference apart from institute's electricity demand second sets power threshold scope, if so, then institute
State relay to make a return voyage to the initial position, and sent to the submersible and control the submersible to be returned to the initial position
The control command of boat.
Preferably, after the submersible receives the order from the tracking shooting sets target that the relay is sent,
Utilize sets target described in image automatic tracking technology track up.
Preferably, the relay is run on the water surface, or in water more than set depth.
Preferably, control device is further included, the control device is used to control the submersible by the relay
Movement and shooting.
Preferably, the control device includes being used for the display screen for showing described image data.
Preferably, the control device is used to be connected with mobile terminal, AR terminals or MR terminals.
The beneficial effects of the invention are as follows：
Since, without wire cable is used, the present invention is not in go out in background technology between relay and submersible
Existing easy the problem of being wound.Simultaneously as water declining to common radio magnetic wave (such as the frequency such as 3G, 4G, WIFI)
Subtract it is very big, which limits the submerged depth of the submersible using above-mentioned radio magnetic wave, and the usual nothing of the bandwidth of sonar communication
Method meets the requirement of realtime graphic transmission, therefore uses laser communication between the relay and submersible of the present invention, both can be with
Realize the requirement of larger diving depth, also disclosure satisfy that the bandwidth requirement of realtime image data transmission, it is often more important that, in
Identified in real time after device and follow submersible, ensure that being capable of laser communication between relay and submersible.
【Brief description of the drawings】
Attached drawing is unmanned underwater photography machine people's functional block diagram of an embodiment of the present invention
【Embodiment】
The 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.The submersible includes diving battery, the first camera, first laser communicator, the first sonar communications set
With diving driving device, the relay includes relaying battery, second laser communicator, the second sonar communications set, the
One radio communication device and relaying driving device, control device include radio communication device, and the diving driving device is used to drive
The dynamic submersible movement.
Submersible underwater run, the first camera be used for shoot underwater environment, can with track up moving target,
Can also static shooting sets target.Relay can be run on the water surface, can also be transported more than the slight depth of underwater
OK, control device sends control command, relay by radio communication device to the first radio communication device of relay
Second laser communicator (or second sonar communications set) by control command be sent to submersible first laser communicate
Device (or first sonar communications set), so as to fulfill the control to submersible, for example, the control of the operating status to submersible
System, such as rising, dive, advance, retrogressing action, the target that can also be shot to the first camera of submersible be set
It is fixed, tracking shooting of the first camera of control to sets target, such as using image automatic tracking technology to sets target
Tracking shooting.
The view data that first camera is shot is sent to the second laser of relay by first laser communicator
Communicator, the view data (including picture, video) that the first radio communication device receives second laser communicator are logical
Radio communication device of the too drastic optical transport to control device, so that control device can obtain real-time underwater video image, supplies
User watches.
Laser communication distance between submersible and relay has certain limitation, since the position of submersible occurs
Mobile, in order to ensure the laser communication between submersible and relay, the relay needs to follow submersible so that institute
The view data that the first laser communicator is wirelessly transferred can be received by stating second laser communicator.Relay can
To identify the submersible, relaying driving device then follows the submersible according to recognition result driving relay.
In such scheme, avoid and wire cable is used between relay and submersible, while laser communication can expire
The bandwidth requirement of sufficient view data transmission.
In one embodiment, relay identifies the submersible by the second camera for setting it to set,
Second camera is used to shoot the submersible, and the relay is according to the image recognition institute for shooting the submersible
State submersible；The view data that second camera is shot can also be transferred to control dress by first radio communication device
Put.In another embodiment, submersible further includes gyroscope, and gyroscope is used for the displacement information for calculating the submersible, institute
The first sonar communications set is stated to be used to institute's displacement information being sent to second sonar communications set, the relay root
Identified according to institute's displacement information and follow the submersible.For example, at the t0 moment, submersible can pass through laser with relay
Communication, at the t1 moment, the displacement that submersible is calculated in gyroscope is S, and displacement S transport is given second by the first sonar communications set
Sonar communications set, relay also follow moving displacement S, and so as to ensure that, laser communication is unimpeded between the two.
In one embodiment, the relay further includes relaying locating module, during navigation, relays positioning mould
Block obtains the current geographic position of the relay in real time, in the case where relay and submersible keep laser communication
(geographical location between relay and submersible can be considered as identical at this time), in real time by the current geographic position of relay
Send and (laser communication or sonar communication can be passed through to transmit) and give submersible, submersible according to current geographic position with setting out when
Initial position calculate backhaul distance in real time, the remaining capacity of real-time judge diving battery is with travelling the backhaul apart from required electricity
Amount difference whether first set power threshold scope, if so, then the submersible makes a return voyage to the initial position.For example, can
Rule of thumb to set the relation between submersible distance to go and power consumption, when the difference of remaining capacity and the institute's electricity demand that makes a return voyage exists
When between 0-Q1, even if being not received by the control command maked a return voyage, submersible also makes a return voyage automatically, and can be sent to relay
The notification message to make a return voyage.
In one embodiment, due to special circumstances, when the remaining capacity of submersible is not enough to make a return voyage, submersible can be with
It is automatic to float.
The relay calculates the current geographic position to the distance of initial position, judges the surplus of the relaying battery
Remaining electricity and travel the difference apart from institute's electricity demand whether second setting power threshold scope (such as 0-Q2), if so, then
The relay makes a return voyage to the initial position, and is sent to the submersible and control the submersible to the initial position
The control command maked a return voyage, that is, relay and submersible together make a return voyage.
In one embodiment, when submersible described in the relay None- identified, the relaying driving device is driven
The relay is moved according to the movement of setting track, until the relay recognizes the submersible.For example, relay
Using position during None- identified submersible as origin, circled with setting radius to identify submersible.
In one embodiment, the submersible further includes submersible locating module, and the submersible locating module is used for
Obtain the geographical location information of the submersible, when first sonar communications set be not received by within the set duration it is described
Information (such as the control information, or the connection when relay does not send control information that second sonar communications set is sent
Network information) when, usually in this case, submersible has lost with relay and has contacted, and therefore, the submersible floats
More than to the setting depth of water (such as the water surface, or close in the water of the water surface), the submersible locating module obtains the submersible
Current geographic position, the submersible makes a return voyage according to the current location and initial position to the initial position.
The geographical location information of relay can also be sent to control dress by the first radio communication device of relay
Put, so that user grasps the geographical location of relay and the geographical location of submersible (in relay and submersible at any time
Between do not lose communication in the case of).Above-mentioned locating module can be GPS module or big dipper module etc..
The control device can include control battery, can also include being used for the display screen for showing described image data,
So that user can watch underwater real-time video or image.Control device can also be whole with mobile terminal, AR terminals or MR
End connection, 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 depth
Automatically safety depth is floated to after being above standard；Installation site sensor, realizes automatic avoiding obstacles function；It can also include
Camera stabilising arrangement, so that the view data of shooting is more stablized；Can installation manipulator outside submersible.
Above content is that a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention by
The scope of patent protection that the claims submitted determine.
Claims (9)
1. a kind of unmanned underwater photography machine people, including submersible, it is characterized in that, further include relay, the diving
Device includes the first camera, first laser communicator and diving driving device, the relay and leads to including second laser
T unit, the first radio communication device and relaying driving device, the diving driving device are used to drive the submersible to move,
The first laser communicator is used to the view data of first camera shooting being transferred to described the by laser
Dual-laser communicator, the relay are used to identify the submersible, and the relaying driving device is described latent according to identifying
The result of hydrophone drives relay to follow the submersible so that the second laser communicator can receive described
The view data of first laser communication device transfers, first radio communication device are used for the second laser communicator
The described image data received are by radioing to control device；
The relay further includes relaying locating module and relaying battery, and the submersible further includes diving battery, in described
It is used for the current geographic position for obtaining the relay after locating module, the relay sends out the current geographic position
The submersible is given, the submersible calculates the current geographic position to the distance of initial position, judges the diving electricity
The remaining capacity in pond and travel whether the difference apart from institute's electricity demand first sets power threshold scope, if so, then described
Submersible makes a return voyage to the initial position.
2. unmanned underwater photography machine people as claimed in claim 1, it is characterized in that, the relay further includes second
Camera, second camera are used to shoot the submersible, and the relay is according to the shooting submersible
Submersible described in image recognition.
3. unmanned underwater photography machine people as claimed in claim 1, it is characterized in that, the submersible further includes gyroscope
With the first sonar communications set, the relay further includes the second sonar communications set, and the gyroscope is used to calculate described
The displacement information of submersible, first sonar communications set are used to institute's displacement information being sent to second sonar communication
Device, the relay identify according to institute's displacement information and follow the submersible.
4. unmanned underwater photography machine people as claimed in claim 1, it is characterized in that,
When submersible described in the relay None- identified, the relaying driving device drives the relay according to setting
Track is moved, until the relay recognizes the submersible.
5. unmanned underwater photography machine people as claimed in claim 3, it is characterized in that, the submersible further includes submersible
Locating module, sends when first sonar communications set is not received by second sonar communications set within the set duration
Information when, the submersible floats up to more than the setting depth of water, and the submersible locating module obtains the current of the submersible
Geographical location, the submersible make a return voyage according to the current location and initial position to the initial position.
6. unmanned underwater photography machine people as claimed in claim 1, it is characterized in that,
The relay calculates the current geographic position to the distance of initial position, judges that the residue of the relaying battery is electric
Amount with travel the difference apart from institute's electricity demand whether second setting power threshold scope, if so, then the relay to
The initial position makes a return voyage, and the control for controlling the submersible to make a return voyage to the initial position is sent to the submersible and is ordered
Order.
7. unmanned underwater photography machine people as claimed in claim 1, it is characterized in that, the submersible is received from described
After the order for the tracking shooting sets target that relay is sent, mesh is set using described in image automatic tracking technology track up
Mark.
8. unmanned underwater photography machine people as claimed in claim 1, it is characterized in that, the relay runs on the water surface
On, or in more than set depth water.
9. unmanned underwater photography machine people as claimed in claim 1, it is characterized in that, further include control device, the control
Device processed is used for the movement and shooting that the submersible is controlled by the relay.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
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| CN106314733A CN106314733A (en) | 2017-01-11 |
| CN106314733B true CN106314733B (en) | 2018-04-20 |
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| CN201610950940.6A Active CN106314733B (en) | 2016-10-26 | 2016-10-26 | A kind of unmanned underwater photography machine people |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| CN109507658B (en) * | 2018-11-21 | 2020-09-22 | 浙江大学 | All-round tracking positioner 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 |
| 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 |
| 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 |
| 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 |
| 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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