CN108557038A - A kind of robot for being perceived under water with sampling - Google Patents
A kind of robot for being perceived under water with sampling Download PDFInfo
- Publication number
- CN108557038A CN108557038A CN201711434606.6A CN201711434606A CN108557038A CN 108557038 A CN108557038 A CN 108557038A CN 201711434606 A CN201711434606 A CN 201711434606A CN 108557038 A CN108557038 A CN 108557038A
- Authority
- CN
- China
- Prior art keywords
- robot
- sampling
- under water
- underwater
- sealed compartment
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The present invention provides a kind of robot for being perceived under water with sampling, belong to underwater experiment apparatus field, its structure includes holder, horizontal propeller, sealed compartment, neutral buoyancy cabin, GPS and vertical pusher, it is provided with sealed compartment in the holder, perception is provided in sealed compartment, sampling and control system, control system is connect with GPS, it is additionally provided with that underwater robot is driven to realize the horizontal propeller horizontally or vertically moved and vertical pusher on holder, and the neutral buoyancy cabin of underwater robot balance is realized under horizontal propeller and vertical pusher booster action.The present invention is realized underwater robot perception, sampling and self-balancing, is improved test efficiency, reduce energy consumption using six propellers and balance buoyancy compartment, camera, three axis accelerometer；When underwater robot floats up to the water surface, related data can be transmitted wirelessly by GPS to monitoring center, under water can also be easy to operate by Ethernet real-time Transmission relevant information to lash ship, it is cost-effective.
Description
Technical field
The present invention relates to a kind of underwater experiment equipment, specifically a kind of robot for being perceived under water with sampling.
Background technology
Underwater perception and sampling robots are a kind of efficient underwater environment perception and detection device, can effectively realize sea
The exploitation of foreign resource and the monitoring of marine environment.But it is existing it is underwater perception with sampling robots suspend in water when balance,
Stability is poor, and speed low-response when operation has larger hysteresis quality.
Invention content
The technical assignment of the present invention is in view of the deficiencies of the prior art, to provide a kind of machine for being perceived under water with sampling
People.
The technical solution adopted by the present invention to solve the technical problems is：
It is a kind of under water perceive with sampling robot, including holder, horizontal propeller, sealed compartment, neutral buoyancy cabin and hang down
Straight propeller is provided with sealed compartment in the holder, perception, sampling and control system is provided in sealed compartment, is set on holder
It is equipped with that underwater robot is driven to realize the horizontal propeller horizontally or vertically moved and vertical pusher, and is pushed away in level
The neutral buoyancy cabin of underwater robot balance is realized under into device and vertical pusher booster action.
Control circuit board, camera, power supply and three axis accelerometer, control circuit board driving are provided in the sealed compartment
Camera collection image is simultaneously stored, is handled, and underwater information perception and sampling, control electricity are realized according to image information underwater robot
Road plate acquires three axis accelerometer signal, and controlled level propeller and vertical pusher are realized the balance of underwater robot, improved
The stability of underwater robot.
When the robot floats up to the water surface, control circuit board transmits wirelessly related data to monitoring center by GPS；Dive is extremely
When underwater, control circuit board passes through Ethernet real-time Transmission relevant information to lash ship.
The holder is cube shape frame structure, or the frame structure based on cube shape frame.
There are two the horizontal propellers, is located at the back lower place of cube shape frame.
There are two the neutral buoyancy cabins, is located at the top of sealed compartment, sets up separately in the left and right sides of sealed compartment.
The vertical pusher has 4, is located on four angles of cube shape frame.
The a kind of of the present invention perceives with the robot of sampling compared with prior art for underwater, generated advantageous effect
It is
1）The present invention is using six propellers and balances buoyancy compartment, camera, the perception of three axis accelerometer realization underwater robot,
Sampling and self-balancing, improve test efficiency, reduce energy consumption.
2）When underwater robot floats up to the water surface, related data can be transmitted wirelessly by GPS to monitoring center, also may be used under water
It is easy to operate with by Ethernet real-time Transmission relevant information to lash ship, it is cost-effective.
Description of the drawings
Attached drawing 1 is the main structure diagram of the present invention；
Attached drawing 2 is the overlooking structure diagram of Fig. 1；
Attached drawing 3 is the left view structural representation of Fig. 1；
Attached drawing 4 is the dimensional structure diagram of the present invention；
Attached drawing 5 is the attachment structure schematic diagram of perception, sampling and control system in sealed compartment.
In figure, 1, holder, 2, horizontal propeller, 3, sealed compartment, 4, neutral buoyancy cabin, 5, GPS, 6, vertical pusher, 7,
Control circuit board, 8, camera, 9, power supply, 10, three axis accelerometer, 11, lash ship.
Specific implementation mode
1-5 says a kind of of the present invention for perceiving under water in detail below with the robot of sampling below in conjunction with the accompanying drawings
It is bright.
As shown in attached drawing 1-4, a kind of robot for being perceived under water with sampling of the invention, structure include holder 1,
Horizontal propeller 2, sealed compartment 3, neutral buoyancy cabin 4, GPS5 and vertical pusher 6,
The holder 1 be cube shape frame structure, sealed compartment 3 is arranged inside, be provided in sealed compartment 3 perception, sampling and
Control system, control system are connect with GPS5, are additionally provided with that underwater robot realization is driven horizontally or vertically to transport on holder 1
Dynamic horizontal propeller 2 and vertical pusher 6, and realized under water under 6 booster action of horizontal propeller 2 and vertical pusher
The neutral buoyancy cabin 4 of robot balance.
There are two the horizontal propellers 2, is located at the back lower place of cube shape frame；There are two neutral buoyancy cabins 4, position
In the top of sealed compartment 3, set up separately in the left and right sides of sealed compartment 3；Vertical pusher 6 has 4, is located at cube shape frame
On four angles.
As shown in Fig. 5, control circuit board 7, camera 8, power supply 9 and three axis accelerometer 10 are provided in sealed compartment 3,
Control circuit board 7 drives camera 8 to acquire image and stores, handles, and underwater information is realized according to image information underwater robot
Perception and sampling, control circuit board 7 acquire 10 signal of three axis accelerometer, and controlled level propeller 2 and vertical pusher 6 are realized
The balance of underwater robot improves the stability of underwater robot.
When robot floats up to the water surface, control circuit board 7 transmits wirelessly related data to monitoring center by GPS5；Dive is to water
When lower, control circuit board 7 passes through Ethernet real-time Transmission relevant information to lash ship 11.
Claims (8)
1. a kind of robot for being perceived under water with sampling, including holder（1）, horizontal propeller（2）, sealed compartment（3）, balance
Buoyancy compartment（4）And vertical pusher（6）, which is characterized in that the holder（1）Inside it is provided with sealed compartment（3）, sealed compartment（3）It is interior
It is provided with perception, sampling and control system, holder（1）On be provided with to drive underwater robot realization horizontally or vertically to transport
Dynamic horizontal propeller（2）And vertical pusher（6）, and in horizontal propeller（2）And vertical pusher（6）Under booster action
Realize the neutral buoyancy cabin of underwater robot balance（4）.
2. the robot according to claim 1 for being perceived under water with sampling, which is characterized in that sealed compartment（3）Inside set
It is equipped with control circuit board（7）, camera（8）, power supply（9）And three axis accelerometer（10）, control circuit board（7）Drive camera
（8）Acquisition image is simultaneously stored, is handled, and underwater information perception and sampling, control circuit are realized according to image information underwater robot
Plate（7）Acquire three axis accelerometer（10）Signal, controlled level propeller（2）And vertical pusher（6）Realize underwater robot
Balance, improve the stability of underwater robot.
3. a kind of robot for being perceived under water with sampling according to claim 2, which is characterized in that robot floats
When to the water surface, control circuit board（7）Related data is sent to monitoring center；Dive to it is underwater when, control circuit board（7）It passes in real time
Defeated relevant information is to lash ship（11）.
4. a kind of robot for being perceived under water with sampling according to claim 3, which is characterized in that control circuit board
（7）Pass through GPS（5）Wireless transmission passes through the wired transmission of Ethernet.
5. a kind of robot for being perceived under water with sampling according to claim 1 or 2, which is characterized in that the branch
Frame（1）For cube shape frame structure.
6. a kind of robot for being perceived under water with sampling according to claim 1 or 2, which is characterized in that the water
Flat propeller（2）There are two, it is located at holder（1）The back lower place.
7. a kind of robot for being perceived under water with sampling according to claim 1 or 2, which is characterized in that described flat
Weigh buoyancy compartment（4）There are two, it is located at sealed compartment（3）Top, set up separately in sealed compartment（3）The left and right sides.
8. a kind of robot for being perceived under water with sampling according to claim 1 or 2, which is characterized in that described to hang down
Straight propeller（6）There are 4, is located at holder（1）Four angles on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711434606.6A CN108557038A (en) | 2017-12-26 | 2017-12-26 | A kind of robot for being perceived under water with sampling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711434606.6A CN108557038A (en) | 2017-12-26 | 2017-12-26 | A kind of robot for being perceived under water with sampling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108557038A true CN108557038A (en) | 2018-09-21 |
Family
ID=63530502
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711434606.6A Pending CN108557038A (en) | 2017-12-26 | 2017-12-26 | A kind of robot for being perceived under water with sampling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108557038A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387395A (en) * | 2018-12-05 | 2019-02-26 | 大连海英科技有限公司 | A kind of ocean engineering seafloor sampling device and balance method |
| CN109878667A (en) * | 2019-04-04 | 2019-06-14 | 南京涵铭置智能科技有限公司 | A kind of underwater observation robot and its observation method |
| CN113044184A (en) * | 2021-01-12 | 2021-06-29 | 桂林电子科技大学 | Deep learning-based water rescue robot and drowning detection method |
| CN113492956A (en) * | 2021-07-22 | 2021-10-12 | 中电科海洋信息技术研究院有限公司 | Underwater robot |
| CN114248872A (en) * | 2021-12-09 | 2022-03-29 | 中国船舶科学研究中心 | Deep sea is assembled main ballast water tank for ship of considering displacement compensation |
| CN115140280A (en) * | 2022-09-05 | 2022-10-04 | 常州科德水处理成套设备股份有限公司 | Timing sampling device for sewage treatment |
-
2017
- 2017-12-26 CN CN201711434606.6A patent/CN108557038A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387395A (en) * | 2018-12-05 | 2019-02-26 | 大连海英科技有限公司 | A kind of ocean engineering seafloor sampling device and balance method |
| CN109878667A (en) * | 2019-04-04 | 2019-06-14 | 南京涵铭置智能科技有限公司 | A kind of underwater observation robot and its observation method |
| CN109878667B (en) * | 2019-04-04 | 2019-11-08 | 南京涵铭置智能科技有限公司 | A kind of underwater observation robot and its observation method |
| WO2020199841A1 (en) * | 2019-04-04 | 2020-10-08 | 南京涵铭置智能科技有限公司 | Robot for underwater observation and observation method thereof |
| CN113044184A (en) * | 2021-01-12 | 2021-06-29 | 桂林电子科技大学 | Deep learning-based water rescue robot and drowning detection method |
| CN113492956A (en) * | 2021-07-22 | 2021-10-12 | 中电科海洋信息技术研究院有限公司 | Underwater robot |
| CN114248872A (en) * | 2021-12-09 | 2022-03-29 | 中国船舶科学研究中心 | Deep sea is assembled main ballast water tank for ship of considering displacement compensation |
| CN115140280A (en) * | 2022-09-05 | 2022-10-04 | 常州科德水处理成套设备股份有限公司 | Timing sampling device for sewage treatment |
| CN115140280B (en) * | 2022-09-05 | 2022-11-11 | 常州科德水处理成套设备股份有限公司 | Timing sampling device for sewage treatment |
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