CN106918328A - A kind of underwater robot of high-definition camera - Google Patents
A kind of underwater robot of high-definition camera Download PDFInfo
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- CN106918328A CN106918328A CN201710314153.7A CN201710314153A CN106918328A CN 106918328 A CN106918328 A CN 106918328A CN 201710314153 A CN201710314153 A CN 201710314153A CN 106918328 A CN106918328 A CN 106918328A
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- 230000005484 gravity Effects 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 3
- 239000011435 rock Substances 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000005286 illumination Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Studio Devices (AREA)
Abstract
The present invention is disclosed and carries out rational deployment by the structure to underwater robot so that the actual center gravity of underwater robot overlaps with its geometric center of gravity under working condition, so that it is more steady to be advanced in underwater robot traveling process；It is identical by by the first camera pan-tilt and the second described camera pan-tilt structure setting, first camera pan-tilt is set and when being adjusted to CCD camera position angle with the second described camera pan-tilt relative to the geometric center of gravity Central Symmetry of underwater robot, the first described camera pan-tilt and the corresponding motor of the second described camera pan-tilt carry out the adjustment of same angle simultaneously, during so as to avoiding CCD camera position angle from being adjusted, the center of gravity of underwater robot changes and causes underwater robot to rock and influence the shooting effect of CCD camera.
Description
Technical field
It is to be related to a kind of high-definition camera underwater robot more specifically the present invention relates to undersea detection technical field.
Background technology
For a long time, by a large amount of exploitations until exhausted, and ocean is richly stored with resource land natural resources, is to need
" precious deposits " of exploitation.In order to preferably detect and develop deep-sea resources, scholars step up to ocean engineering detection device and open
Adopt the development of equipment.Underwater robot has safety, the economic, many merits such as efficiently, can replace diver in high depth very
High intensity, the work of big load are completed into hazardous environment, is a kind of important tool for developing marine resources.21st century can
As the important means for exploring ocean, or even it is in some cases the only resource to say being century that the mankind march to ocean,
Effect of the underwater robot in ocean is developed is no less than the effect of rocket and space shuttle in exploration of the universe space.Water
The Main Function of lower robot be as a kind of diving apparatus and delivery vehicle for the mankind during conquering and utilizing ocean,
Integrated survey is carried out under the not accessibility depth of general diving techniques or environment and study and complete several work task.
Underwater robot is broadly divided into two major classes：One class is that have cable underwater robot, and custom is referred to as telecontrolled submergence rescue vehicle (Remote
Operated Vehicle, abbreviation ROV)；Another kind of is that, without cable underwater robot, custom is referred to as the latent device of autonomous underwater
(Autonomous Underwater Vehicle, abbreviation AUV).Autonomous type underwater robot is underwater robot of new generation, tool
Have the advantages that scope of activities is big, mobility is good, safety, intellectuality, as the important tool for completing various subsea tasks.For example,
In civil area, can be used for pipeline installation, seabed investigation, Data Collection, drilling well support, subsea construction, underwater installation safeguard with
Maintenance etc.；Then can be used to scouting in military domain, mine-laying, clearance, help latent and lifesaving etc..Lived due to having without cable underwater robot
Dynamic scope is not limited by cable, the advantages of good concealment, so from the mid-1960s, industrial quarters and the military start to untethered water
Lower robot takes up.But when underwater photograph technical is carried out using autonomous type underwater robot, when adjustment CCD camera angle
When the center of gravity of autonomous type underwater robot can be caused to change, so as to cause autonomous type underwater robot adjustment CCD image
Photographic effect is not good in a period of time after head position angle, causes to miss important data intelligence.
The content of the invention
In view of this, in view of the existing deficiencies of the prior art, its main purpose is to provide a kind of high-definition camera water to the present invention
Lower robot, it can still shoot the video pictures of high definition when CCD camera angle is adjusted.
To achieve the above object, the invention provides following technical scheme：A kind of high-definition camera underwater robot, it includes
Shell, instrument room, signal receiver, central controller, handle, vertical lift propeller, vertical lift propeller are fixedly connected
Plate, vertical lift motor, the first camera pan-tilt, preceding transparent kuppe, first control circuit plate, second control circuit
Plate, the second camera pan-tilt, rear transparent kuppe, LED illumination lamp, the first forward propeller, the first propeller motor,
Two forward propellers, the second propeller motor, the first battery compartment, the second battery compartment, described handle are arranged on shell；
Signal receiver, central controller, camera pan-tilt are arranged in instrument room, and central controller and signal receiver, vertical
Lifting motor, the first propeller motor, the second propeller motor, first control circuit plate, the second control electricity
Road plate electric signal connection, and vertical lift motor, the first propeller motor, the second propeller motor are carried out
Control；Battery pack is respectively arranged with each described battery flat；Under working condition after above-mentioned all part installations, machine under water
The actual center gravity of device people overlaps with its geometric center of gravity.
Further it is set to, described the first camera pan-tilt is with the second described camera pan-tilt relative to machine under water
The geometric center of gravity Central Symmetry of device people is set.
Further it is set to, described camera pan-tilt includes：The motor output shaft of camera pan-tilt first, video camera cloud
The motor mounting plate of platform first, the motor of camera pan-tilt first, the U-shaped connecting plate of camera pan-tilt, the U-shaped supporting plate of camera pan-tilt,
The motor output shaft of camera pan-tilt second, the motor of camera pan-tilt second, CCD camera connecting plate, CCD camera installing plate,
CCD camera, CCD camera installing plate support shaft；The described motor of camera pan-tilt first is by described camera pan-tilt
First motor mounting plate is fixed in instrument room；The U-shaped supporting plate of described camera pan-tilt is U-shaped by described camera pan-tilt
Connecting plate is fixedly connected with the motor output shaft of camera pan-tilt first；Described CCD camera is fixedly mounted on described CCD and takes the photograph
As on head installing plate, described CCD camera installing plate one end by described CCD camera installing plate support shaft with it is described
The U-shaped supporting plate bearing pin connection of camera pan-tilt；The CCD camera installing plate other end by CCD camera connecting plate with it is described
The motor output shaft of camera pan-tilt second is fixedly connected；The described motor of camera pan-tilt second and described camera pan-tilt U
Type supporting plate is fixedly connected.
Further it is set to, the first described camera pan-tilt is identical with the second described camera pan-tilt structure.
Further it is set to, the described motor of camera pan-tilt first is with the described motor of camera pan-tilt second
Stepper motor, and be connected with control board signal.
Further it is set to, when being adjusted to CCD camera position angle, the first described camera pan-tilt and institute
The corresponding motor of the second camera pan-tilt stated is while carry out the adjustment of same angle.
Present invention tool has the advantage that：Rational deployment is carried out by the structure to underwater robot so that under working condition
The actual center gravity of underwater robot overlaps with its geometric center of gravity, so that it is more flat to be advanced in underwater robot traveling process
Surely；By by the first camera pan-tilt and the second described camera pan-tilt structure setting be identical, the first camera pan-tilt with
The second described camera pan-tilt is set and to CCD camera position relative to the geometric center of gravity Central Symmetry of underwater robot
When angle setting degree is adjusted, the first described camera pan-tilt and the corresponding motor of the second described camera pan-tilt are simultaneously
The adjustment of same angle is carried out, during so as to avoiding CCD camera position angle from being adjusted, the center of gravity of underwater robot changes
And cause underwater robot to rock and influence the shooting effect of CCD camera.
Brief description of the drawings
Fig. 1 is sectional view of the present invention.
Fig. 2 is top view of the present invention.
Fig. 3 is rearview of the present invention.
Fig. 4 is camera pan-tilt structural representation of the invention.
In figure：1st, handle；2nd, it is vertically moved up or down propeller；3rd, it is vertically moved up or down propeller fixed connecting plate；4th, the first video camera
Head；5 transparent kuppes；6th, first control circuit plate；7th, second control circuit plate；8th, the second camera pan-tilt；9th, LED illumination
Lamp；10 first forward propellers；11st, the second forward propeller；12nd, battery pack；13rd, the first battery flat；14th, the second battery flat；
15th, the motor output shaft of camera pan-tilt first；16th, the motor of camera pan-tilt first；17th, the U-shaped connecting plate of camera pan-tilt；18、
The U-shaped supporting plate of camera pan-tilt；19th, the U-shaped supporting plate of camera pan-tilt；20th, the motor output shaft of camera pan-tilt second；21st, take the photograph
The motor of camera head second；22nd, CCD camera connecting plate；23rd, CCD camera installing plate；24th, CCD camera；25th, CCD takes the photograph
As head installing plate support shaft.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described.Obviously, to implement better embodiment of the invention, the description is to illustrate the present invention to described embodiment
Rule for the purpose of, be not limited to the scope of the present invention.Protection scope of the present invention should be with claim institute circle
The person of determining is defined, and based on the embodiment in the present invention, those of ordinary skill in the art are not on the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of protection of the invention.
Referring to figs. 1 to shown in Fig. 4, embodiment is described further.
The present invention is disclosed：A kind of high-definition camera underwater robot, it includes shell, instrument room, signal receiver, center control
Device processed, handle 1, vertical lift propeller 2, vertical lift propeller fixed connecting plate 3, vertical lift motor, first are taken the photograph
Camera head 4, preceding transparent kuppe 5, first control circuit plate 6, second control circuit plate 7, the second camera pan-tilt 8, it is rear thoroughly
Bright kuppe, LED illumination lamp 9, the first forward propeller 10, the first propeller motor, the second forward propeller 11, second
Propeller motor, the first battery compartment 13, the second battery compartment 14, described handle 1 are arranged on shell；Signal receiver,
Central controller, camera pan-tilt are arranged in instrument room, and central controller drives electricity with signal receiver, vertical lift
Machine, the first propeller motor, the second propeller motor, first control circuit plate, second control circuit plate electric signal
Connection, and vertical lift motor, the first propeller motor, the second propeller motor are controlled；It is described
Each battery flat in be respectively arranged with battery pack 12；Under working condition after above-mentioned all part installations, underwater robot
Actual center gravity overlaps with its geometric center of gravity.
Further it is set to, described the first camera pan-tilt is with the second described camera pan-tilt relative to machine under water
The geometric center of gravity Central Symmetry of device people is set.
Further it is set to, described camera pan-tilt includes：The motor output shaft of camera pan-tilt first, video camera cloud
The motor mounting plate of platform first, the motor of camera pan-tilt first, the U-shaped connecting plate of camera pan-tilt, the U-shaped supporting plate of camera pan-tilt,
The motor output shaft of camera pan-tilt second, the motor of camera pan-tilt second, CCD camera connecting plate, CCD camera installing plate,
CCD camera, CCD camera installing plate support shaft；The described motor of camera pan-tilt first is by described camera pan-tilt
First motor mounting plate is fixed in instrument room；The U-shaped supporting plate of described camera pan-tilt is U-shaped by described camera pan-tilt
Connecting plate is fixedly connected with the motor output shaft of camera pan-tilt first；Described CCD camera is fixedly mounted on described CCD and takes the photograph
As on head installing plate, described CCD camera installing plate one end by described CCD camera installing plate support shaft with it is described
The U-shaped supporting plate bearing pin connection of camera pan-tilt；The CCD camera installing plate other end by CCD camera connecting plate with it is described
The motor output shaft of camera pan-tilt second is fixedly connected；The described motor of camera pan-tilt second and described camera pan-tilt U
Type supporting plate is fixedly connected.
Further it is set to, the first described camera pan-tilt is identical with the second described camera pan-tilt structure.
Further it is set to, the described motor of camera pan-tilt first is with the described motor of camera pan-tilt second
Stepper motor, and be connected with control board signal.
Further it is set to, when being adjusted to CCD camera position angle, the first described camera pan-tilt and institute
The corresponding motor of the second camera pan-tilt stated is while carry out the adjustment of same angle.
Relative to prior art, the underwater robot that the present invention is provided, when CCD camera position angle is adjusted according to
The old image that can shoot high definition.
Described above has shown and described some preferred embodiments of the invention, but as previously described, it should be understood that the present invention
Be not limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and can be used for various other combinations,
Modification and environment, and can be in invention contemplated scope described herein, by above-mentioned teaching or the technology or knowledge of association area
It is modified.And the change and change that those skilled in the art are carried out do not depart from the spirit and scope of the present invention, then all should be in this hair
In the protection domain of bright appended claims.
Claims (6)
1. a kind of high-definition camera underwater robot, its feature is lain in：Including shell, instrument room, signal receiver, center control
Device, handle, vertical lift propeller, vertical lift propeller fixed connecting plate, vertical lift motor, the first video camera cloud
Platform, preceding transparent kuppe, first control circuit plate, second control circuit plate, the second camera pan-tilt, rear transparent kuppe, LED
Illuminating lamp, the first forward propeller, the first propeller motor, the second forward propeller, the second propeller motor,
One battery compartment, the second battery compartment, described handle are arranged on shell；Signal receiver, central controller, camera pan-tilt set
Put in instrument room, and central controller and signal receiver, vertical lift motor, the first propeller motor, the
Two propeller motors, first control circuit plate, the connection of second control circuit plate electric signal, and electricity is driven to vertical lift
Machine, the first propeller motor, the second propeller motor are controlled；Battery is respectively arranged with each described battery flat
Group；Under working condition after above-mentioned all part installations, the actual center gravity of underwater robot overlaps with its geometric center of gravity.
2. a kind of high-definition camera underwater robot according to claim 1, it is characterised in that：The first described video camera cloud
Platform is set with the second described camera pan-tilt relative to the geometric center of gravity Central Symmetry of underwater robot.
3. a kind of high-definition camera underwater robot according to claim 1, it is characterised in that：Described camera pan-tilt bag
Include：The motor output shaft of camera pan-tilt first, the motor mounting plate of camera pan-tilt first, the motor of camera pan-tilt first, shooting
The U-shaped connecting plate of machine head, the U-shaped supporting plate of camera pan-tilt, the motor output shaft of camera pan-tilt second, the electricity of camera pan-tilt second
Machine, CCD camera connecting plate, CCD camera installing plate, CCD camera, CCD camera installing plate support shaft；Described shooting
The motor of machine head first is fixed in instrument room by the described motor mounting plate of camera pan-tilt first；Described video camera cloud
The U-shaped supporting plate of platform is fixedly connected by the described U-shaped connecting plate of camera pan-tilt with the motor output shaft of camera pan-tilt first；Institute
The CCD camera stated is fixedly mounted on described CCD camera installing plate, and described CCD camera installing plate one end passes through
Described CCD camera installing plate support shaft is connected with the U-shaped supporting plate bearing pin of described camera pan-tilt；CCD camera is installed
The plate other end is fixedly connected by CCD camera connecting plate with the described motor output shaft of camera pan-tilt second；Described takes the photograph
The motor of camera head second is fixedly connected with the U-shaped supporting plate of described camera pan-tilt.
4. a kind of high-definition camera underwater robot according to claim 1, it is characterised in that：The first described video camera cloud
Platform is identical with the second described camera pan-tilt structure.
5. a kind of high-definition camera underwater robot according to claim 1, it is characterised in that：Described camera pan-tilt
One motor is stepper motor with the described motor of camera pan-tilt second, and is connected with control board signal.
6. a kind of high-definition camera underwater robot according to claim 1, it is characterised in that：To CCD camera position angle
When degree is adjusted, the first described camera pan-tilt and the corresponding motor of the second described camera pan-tilt are carried out simultaneously
With the adjustment of angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710314153.7A CN106918328A (en) | 2017-05-05 | 2017-05-05 | A kind of underwater robot of high-definition camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710314153.7A CN106918328A (en) | 2017-05-05 | 2017-05-05 | A kind of underwater robot of high-definition camera |
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| Publication Number | Publication Date |
|---|---|
| CN106918328A true CN106918328A (en) | 2017-07-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710314153.7A Pending CN106918328A (en) | 2017-05-05 | 2017-05-05 | A kind of underwater robot of high-definition camera |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108167573A (en) * | 2017-12-25 | 2018-06-15 | 中国海洋大学 | A kind of robot |
| CN110336619A (en) * | 2019-07-05 | 2019-10-15 | 李利 | A kind of Sea Mobile Communication equipment |
| CN111173701A (en) * | 2020-02-13 | 2020-05-19 | 山东交通学院 | Deep submersible oil pumping device |
| CN112788213A (en) * | 2020-12-22 | 2021-05-11 | 苏州天河中电电力工程技术有限公司 | Underwater cloud platform camera |
| CN113247222A (en) * | 2021-06-21 | 2021-08-13 | 江苏科技大学 | Investigation and beating integrated underwater unmanned underwater vehicle |
| CN115086460A (en) * | 2022-06-07 | 2022-09-20 | 宁波伟峰智能科技有限公司 | Mobile phone camera equipment |
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| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN201672917U (en) * | 2010-05-27 | 2010-12-15 | 陕西致深电子科技有限公司 | Underwater optical pan-tilt scanning image observation device |
| CN204979196U (en) * | 2015-08-25 | 2016-01-20 | 林金元 | Multiaxis robot under water |
| CN105667745A (en) * | 2016-01-21 | 2016-06-15 | 王昕� | Autonomous underwater vehicle and control method thereof |
| CN106428479A (en) * | 2015-08-06 | 2017-02-22 | 欧舶智能科技（上海）有限公司 | Unmanned remote-controlled underwater robot and control method thereof |
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2017
- 2017-05-05 CN CN201710314153.7A patent/CN106918328A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN201672917U (en) * | 2010-05-27 | 2010-12-15 | 陕西致深电子科技有限公司 | Underwater optical pan-tilt scanning image observation device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108167573A (en) * | 2017-12-25 | 2018-06-15 | 中国海洋大学 | A kind of robot |
| CN110336619A (en) * | 2019-07-05 | 2019-10-15 | 李利 | A kind of Sea Mobile Communication equipment |
| CN111173701A (en) * | 2020-02-13 | 2020-05-19 | 山东交通学院 | Deep submersible oil pumping device |
| CN111173701B (en) * | 2020-02-13 | 2021-08-03 | 山东交通学院 | Oil pumping method of deep submersible oil pumping device |
| CN112788213A (en) * | 2020-12-22 | 2021-05-11 | 苏州天河中电电力工程技术有限公司 | Underwater cloud platform camera |
| CN113247222A (en) * | 2021-06-21 | 2021-08-13 | 江苏科技大学 | Investigation and beating integrated underwater unmanned underwater vehicle |
| CN113247222B (en) * | 2021-06-21 | 2022-04-26 | 江苏科技大学 | Investigation and beating integrated underwater unmanned underwater vehicle |
| CN115086460A (en) * | 2022-06-07 | 2022-09-20 | 宁波伟峰智能科技有限公司 | Mobile phone camera equipment |
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Application publication date: 20170704 |
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