CN114194341A - Overwater self-driven photographing robot and using method thereof - Google Patents
Overwater self-driven photographing robot and using method thereof Download PDFInfo
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- CN114194341A CN114194341A CN202111564020.8A CN202111564020A CN114194341A CN 114194341 A CN114194341 A CN 114194341A CN 202111564020 A CN202111564020 A CN 202111564020A CN 114194341 A CN114194341 A CN 114194341A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 34
- 239000003153 chemical reaction reagent Substances 0.000 claims abstract description 31
- KFZMGEQAYNKOFK-UHFFFAOYSA-N Isopropanol Chemical compound CC(C)O KFZMGEQAYNKOFK-UHFFFAOYSA-N 0.000 claims abstract description 13
- 239000006096 absorbing agent Substances 0.000 claims abstract description 9
- 230000035939 shock Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 8
- 239000000696 magnetic material Substances 0.000 claims description 3
- 239000003960 organic solvent Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 241001465754 Metazoa Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 240000005572 Syzygium cordatum Species 0.000 description 2
- 235000006650 Syzygium cordatum Nutrition 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 150000002632 lipids Chemical class 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H19/00—Marine propulsion not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
- B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Sustainable Development (AREA)
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Abstract
The invention discloses an on-water self-driven photographing robot and a using method thereof. The robot comprises a flow rate control module, a power module, a machine body main body, a camera system and two foot plates. Two mutually independent sole set up side by side to connect together through the fuselage main part of top. The machine body comprises a foot plate connecting seat, a spring shock absorber, a connecting rod and a main body. The power module comprises a dropper; the dropper is arranged at the tail end of the machine body and can swing left and right under the driving of the power element. The outer end of the dropper is provided with a dropper head which faces downwards. The input end of the dropper is connected with the output port of the organic reagent storage tank fixed on the main body through the flow rate control module; the invention gets rid of the traditional mechanical power system and adopts isopropanol to change the tension on the surface of the water body to realize forward movement. Compared with the traditional propeller driving, the noise is lower. Therefore, the device can be naturally integrated into the natural environment of the water surface for shooting.
Description
Technical Field
The invention belongs to the technical field of natural science, and particularly relates to an underwater self-driven photographing robot and a using method thereof.
Background
In nature, a small living creature "Shuijiu" living on water surface is produced by discharging excrement rich in lipid to water surface, changing the tension of water surface behind it, and thus driving it to move forward and turn. Inspired by the advancing mode of the water tree, researchers design a plurality of underwater self-driven photographing robots capable of freely walking on the water surface. They can be applied to the shooting of biologists, where a robot is equipped with a miniature camera, and since it can travel soundlessly over the water surface like a water tree, it does not startle the living being shot. The existing water self-driven photographing robot is relatively primitive and cannot control direction and speed.
The Marangoni effect (Marangoni effect) is a phenomenon in which mass transfer occurs due to a gradient in surface tension at the interface between two liquids having different surface tensions, and is called the Marangoni effect. The marangoni effect is caused by the fact that liquid with large surface tension has strong tensile force on liquid with small surface tension around the liquid, and surface tension gradient is generated; the liquid is caused to flow from a low surface tension to a high surface tension.
Disclosure of Invention
The invention aims to provide an underwater self-driven photographing robot and a using method thereof.
The invention relates to an underwater self-driven photographing robot which comprises a flow rate control module, a power module, a body main body, a camera system and two foot plates. Two mutually independent sole set up side by side to connect together through the fuselage main part of top. The machine body comprises a foot plate connecting seat, a spring shock absorber, a connecting rod and a main body. The trunk body is connected with the two foot plates through the foot plate connecting seat and the connecting rod; a spring shock absorber is arranged between the foot plate connecting seat and the connecting rod. The power module comprises a dropper; the dropper is arranged at the tail end of the machine body and can swing left and right under the driving of the power element. The outer end of the dropper is provided with a dropper head which faces downwards. The input end of the dropper is connected with the output port of the organic reagent storage tank fixed on the main body through the flow rate control module; the input end of the dropper is lower than the output end of the organic reagent storage tank. Organic reagent is stored in the organic reagent storage tank. The camera system is arranged at the head end of the machine body main body.
Preferably, the above-water self-driven photographing robot further includes a wind power system. The wind power system comprises a sail, a first connecting rod, a second connecting rod, a transverse guide rod, a first sliding block, a second sliding block, a crank motor, a guide rail, a sliding mast and a fixed mast. One of the foot plates is provided with a chute. The fixed mast that sets up vertically is fixed in the one end of spout. The sliding mast that sets up vertically is sliding connection on the spout, and can be in different position locking.
The inner ends of the two first connecting rods are respectively and rotatably connected with two different positions of the sliding mast. One end of each second connecting rod is rotatably connected with the outer end of each first connecting rod. The other ends of the two second connecting rods are respectively and rotatably connected with the two ends of the guide rail. A horizontal guide rod is fixed on the sliding mast. A first sliding block is fixed on the guide rail; the first sliding block is connected with the transverse guide rod in a sliding mode along the horizontal direction; the axial direction of the transverse guide rod is perpendicular to the sliding mast. The second sliding block is connected on the guide rail in a sliding mode. The inner end of the crank is rotatably connected with the middle part of the sliding mast. The outer end of the crank is rotationally connected with the second slide block. The edges of the two sides of the sail are respectively fixed with the guide rail and the fixed mast. The crank motor is fixed on the sliding mast, and the output shaft is fixed with the inner end of the crank.
Preferably, the main body is provided with a wireless communication module and a battery.
Preferably, the number of the connecting rods is four; two of the four connecting rods are used as a group; the two groups of connecting rods are respectively arranged at two sides of the main body. The outer end of the connecting rod is arranged downwards and is connected with a foot plate connecting seat through a spring shock absorber. The top surface of the foot plate is provided with two sections of arc chutes. The two sections of arc chutes are on the same circle. The diameter of the arc chute is equal to the center distance between two foot plate connecting seats on the same foot plate. The bottom of the foot plate connecting seat is provided with a guide convex block matched with the arc chute; the guide convex blocks on the bottom surfaces of the two foot plate connecting seats on the same foot plate are respectively connected in the arc sliding grooves on the corresponding foot plates in a sliding manner. And a return spring is connected between the guide convex block and the end part of the corresponding arc chute. The return spring enables the guide lug to be in a middle position in an initial state; the guide projection is made of soft magnetic material. Electromagnets are fixed at both ends of the arc chute; when two electromagnets are respectively electrified, the guide convex blocks can be attracted to the corresponding end parts on the arc sliding grooves, and the relative positions of the foot plates and the foot plate connecting seats are adjusted.
Preferably, the power module further comprises a connecting rod, a steering connecting piece and a steering motor. The two connecting rods and the two steering connecting pieces are sequentially and alternately rotated to form a parallelogram. The two steering connecting pieces are respectively arranged at two ends of the bottom of the main body. The middle parts of the two steering connecting pieces and the two ends of the bottom of the main body respectively form a revolute pair with a common axis arranged vertically. The steering motor is fixed at the head end of the bottom of the trunk body, and the output shaft is fixed with the middle part of the steering connecting piece positioned at the head end. One end of a dropper horizontally arranged on the main body is fixed with the middle part of the steering connecting piece positioned at the tail end, and the other end of the dropper is provided with a dropper arranged downwards.
Preferably, the flow rate control module comprises a throttle valve rod and a valve body. A reagent flow passage is arranged in the valve body. The bottom end of the throttle valve rod extends into the reagent flow channel from top to bottom; the flow area of the reagent flow channel can be changed by adjusting the position of the throttle valve rod. The throttle valve rod slides under the driving of the power element. Two ends of a reagent flow passage in the valve body are respectively connected with the organic reagent storage tank and the dropper.
Preferably, the flow rate control module further comprises a needle valve control motor, a connecting rod and a rocker. The needle valve control motor is fixed on the main body; an output shaft of the needle valve control motor is fixed with the inner end of the rocker; one end of the connecting rod is rotatably connected with the outer end of the rocker; the other end of the connecting rod and the top end of the throttle valve rod form a spherical pair.
Preferably, the camera system comprises a camera, an X-axis motor mounting table, a Z-axis motor mounting table, an X-axis motor and a Z-axis motor. The camera is arranged on the X-axis motor mounting table; the X-axis motor drives the camera to rotate around the horizontal axis. The X-axis motor mounting table is mounted on the Z-axis motor mounting table; the Z-axis motor is arranged on the Z-axis motor mounting table and used for driving the X-axis motor mounting table to rotate around a vertical axis. The Z-axis motor mounting table is fixed at the head end of the main body.
Preferably, isopropanol is used as the organic reagent.
The use method of the water self-driven photographing robot comprises the following specific steps:
placing the overwater self-driven photographing robot in a target water area, wherein two foot plates float on the water surface; the water self-driven photography robot generates propulsion by using a power module to drip an organic solvent at the rear; after the self-driven photographing robot on the water is close to a target object, a camera system is used for shooting.
The invention has the beneficial effects that:
1. the invention gets rid of the traditional mechanical power system and adopts isopropanol to change the tension on the surface of the water body to realize forward movement. Compared with the traditional propeller driving, the noise is lower. So that the water can be naturally merged into the natural environment of the water surface. Provides a good tool for biologists, natural scene photographers and wild animal experts to carry out close-range shooting. In addition, the invention can photograph and take a picture of wild animals with small and weak temperament without frightening the wild animals.
2. The invention can control the advancing direction of the dropper more accurately by controlling the rotating angle of the dropper. In addition, the wind power system is additionally arranged, and the sail on the foot plate can sail for a long time by means of wind power, so that the consumption of electric energy is saved, and the sailing time of the robot is prolonged.
3. The invention has light weight and good acceleration performance, and can be remotely controlled through the wireless communication module. In addition, the invention can control the advancing speed of the robot by changing the water-facing angle of the foot plate.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the wind system of the present invention;
FIG. 3 is a schematic structural view of the fuselage body of the present invention;
FIG. 4a is a schematic view of the connection between the foot plate connecting seat and the foot plate according to the present invention;
FIG. 4b is a schematic view of the change in the attitude of the foot plate according to the present invention;
FIG. 5 is a schematic structural diagram of a power module of the present invention;
FIG. 6 is a schematic diagram of a flow rate control module according to the present invention;
FIG. 7 is a schematic view of the camera system according to the present invention;
fig. 8 is a schematic diagram of the position of the motor of the camera system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the underwater self-driven photographing robot comprises a wind power system 1, a flow rate control module 2, a power module 3, a body main body 4, a camera system 5 and two foot plates 1-7. The two mutually independent foot plates 1-7 are arranged side by side and are connected together through the upper machine body 4.
As shown in FIG. 2, the wind power system comprises a sail 1-1, a first connecting rod 1-2, a second connecting rod 1-11, a transverse guide rod 1-10, a first slide block 1-9, a second slide block 1-3, a crank 1-4, a crank motor 1-5, a guide rail 1-6, a sliding mast and a fixed mast 1-8. One of the foot plates 1-7 is provided with a sliding groove. The fixed mast 1-8 which is vertically arranged is fixed at one end of the chute. The sliding mast that sets up vertically is sliding connection on the spout, and can be in different position locking. The position of the sliding mast is adjusted by means of an electric element or manually.
The inner ends of the two first connecting rods 1-2 are respectively and rotatably connected with two different positions of the sliding mast. One end of each of the two second connecting rods 1-11 is respectively and rotatably connected with the outer ends of the two first connecting rods 1-2. The other ends of the two second connecting rods 1-11 are respectively and rotatably connected with the two ends of the guide rails 1-6. Horizontally arranged transverse guide rods 1-10 are fixed to the sliding mast. A first sliding block 1-9 is fixed on the guide rail 1-6; the first sliding block 1-9 is connected with the transverse guide rod 1-10 in a sliding mode along the horizontal direction, so that the guide rail 1-6 keeps a vertical posture; the axial direction of the transverse guide rods 1-10 is perpendicular to the sliding mast. The second sliding block 1-3 is connected on the guide rail 1-6 in a sliding way. The inner ends of the cranks 1-4 are rotatably connected with the middle part of the sliding mast. The outer end of the crank 1-4 is rotationally connected with the second slide block 1-3.
The edges of two sides of the sail 1-1 are respectively fixed with the guide rails 1-6 and the fixed masts 1-8. The crank motor 1-5 is fixed on the sliding mast, and the output shaft is fixed with the inner end of the crank 1-4. The crank 1-4 rotates to drive the guide rail 1-6 to move horizontally along the direction vertical to the sliding groove, so that the windward angle of the sail 1-1 is adjusted, and the sail can move forwards at a proper angle by means of wind power.
As shown in fig. 3, the body 4 includes a wireless communication module 4-1, a battery 4-2, an arc-shaped elastic body 4-3, a foot plate connection seat 4-4, a spring damper 4-5, a connection rod 4-6, and a trunk body 4-7. The trunk bodies 4 to 7 are cylindrical. The inner ends of the four connecting rods 4-6 are respectively fixed at the front end and the rear end of the two sides of the main body 4-7; the connecting rod 4-6 comprises two rod segments connected by an arcuate elastic body 4-3. The arc-shaped elastic body 4-3 enables the connecting rod 4-6 to be bent and deformed. The outer end of the connecting rod 4-6 is arranged downwards and is connected with a foot plate connecting seat 4-4 through a spring shock absorber 4-5. The four foot plate connecting seats 4-4 are grouped in pairs; the two groups of foot plate connecting seats 4-4 are respectively connected with the top surfaces of the two foot plates 1-7. The battery 4-2 and the wireless communication module 4-1 are both fixed to the back of the main body 4-7. When the water surface has wind and waves, the arc-shaped elastic body 4-3 and the spring shock absorber 4-5 can play a buffering role, so that the camera 5-1 can still shoot stably. When the underwater self-driven photographing robot works, the wireless communication module 4-1 receives the control signal and controls the motor to rotate through the electric wire, so that the advancing and the steering of the underwater self-driven photographing robot are controlled.
As shown in fig. 1, 4a and 4b, the top surface of the foot plate 1-7 is provided with two arc chutes. The arc chute is a T-shaped section groove. The two sections of arc chutes are on the same circle. The diameter of the arc chute is equal to the center distance of two foot plate connecting seats 4-4 positioned on the same foot plate 1-7. The bottom of the foot plate connecting seat 4-4 is provided with a guide convex block 7 matched with the arc chute; the guide convex blocks 7 on the bottom surfaces of the two foot plate connecting seats 4-4 on the same foot plate 1-7 are respectively connected in the arc sliding grooves on the corresponding foot plates 1-7 in a sliding manner.
And a return spring 6 is connected between the guide convex block 7 and the end part of the corresponding arc chute. The return spring 6 causes the guide projection 7 to be in a neutral position in the initial state; the guide projections 7 are made of a soft magnetic material and can be magnetized. Electromagnets 8 are fixed at both ends of the arc chute; when the two electromagnets 8 are respectively electrified, the guide convex blocks 7 can be attracted to the corresponding end parts on the arc sliding grooves, so that the relative positions of the foot plates 1-7 and the foot plate connecting seats 4-4 are adjusted, and the foot plates 1-7 can present different postures relative to the machine body main body 4; the posture change of the two foot plates 1-7 can change the area of the foot plates 1-7 subjected to the thrust, which can change the organic solvent dropping on the water surface, thereby achieving the effect of adjusting the advancing power of the robot.
As shown in FIG. 5, the power module comprises a dropper 3-1, a connecting rod 3-2, a steering connecting piece 3-3 and a steering motor 3-4. The two connecting rods 3-2 and the two steering connecting pieces 3-3 are sequentially and alternately rotated to form a parallelogram. Two steering connecting pieces 3-3 are respectively arranged at two ends of the bottom of the main body 4-7. The middle parts of the two steering connecting pieces 3-3 and the two ends of the bottom of the main body 4-7 respectively form a revolute pair with a common axis arranged vertically. The steering motor 3-4 is fixed at the head end of the bottom of the main body 4-7, and the output shaft is fixed with the middle part of the steering connecting piece 3-3 at the head end. One end of a dropper 3-1 horizontally arranged on the main body is fixed with the middle part of a steering connecting piece 3-3 positioned at the tail end, and the other end of the dropper is provided with a dropper arranged downwards and used for dropping an organic reagent at the rear part of the robot, so that liquid flowing forwards is formed at the rear part of the robot by utilizing the Marangoni effect, and the robot is pushed to move forwards; the rotation of the steering motor 3-4 can drive the dropper 3-1 to swing left and right, so that the dropping position of the organic reagent in the left and right directions is changed, and the steering of the robot is realized. Isopropanol is adopted as an organic reagent, and the surface tension is 22.6 mN/m; the surface tension of water was 72.7 mN/m. The difference between the two can make the organic reagent drip backward and form outward diffusion liquid flow direction by taking the dripping point as the center, and then realize the forward pushing of the foot plate.
The input end of the dropper 3-1 is connected with the output port of the organic reagent storage tank fixed on the main body 4-7 through the flow rate control module 2; the input end of the dropper 3-1 is lower than the output end of the organic reagent storage tank, so that the organic reagent is dripped out of the dropper 3-1 under the action of gravity.
As shown in FIG. 6, the flow rate control module 2 comprises a needle valve control motor 2-1, a throttle valve rod 2-2, a connecting rod 2-3, a rocker 2-4 and a valve body. A reagent flow passage is arranged in the valve body. The bottom end of the throttle valve rod 2-2 extends into the reagent flow channel from top to bottom; the flow area of the reagent flow channel can be changed by adjusting the height of the throttle valve rod 2-2, and the dripping speed of the dropper 3-1 is further changed. A needle valve control motor 2-1 is fixed on the trunk body 4-7; an output shaft of the needle valve control motor 2-1 is fixed with the inner end of the rocker 2-4; one end of the connecting rod 2-3 is rotatably connected with the outer end of the rocker 2-4; the other end of the connecting rod 2-3 and the top end of the throttle valve rod 2-2 form a spherical pair. The throttle valve rod 2-2 can move up and down along the axis direction under the driving of the needle valve control motor 2-1, thereby changing the size of the valve opening and controlling the flow.
As shown in fig. 7 and 8, the camera system is installed at the head end of the main body 4-7, and includes a camera 5-1, an X-axis motor mount 5-2, a Z-axis motor mount 5-3, an X-axis motor 5-4, and a Z-axis motor 5-5. The camera 5-1 is installed on the X-axis motor installation table 5-2, and the X-axis motor 5-4 drives the camera 5-1 to rotate around a horizontal axis. The X-axis motor mounting table 5-2 is mounted on the Z-axis motor mounting table 5-3; the Z-axis motor 5-5 is arranged on the Z-axis motor mounting table 5-3 and used for driving the X-axis motor mounting table 5-2 to rotate around a vertical axis. The Z-axis motor mounting table 5-3 is fixed at the head end of the main body 4-7.
The use method of the water self-driven photographing robot comprises the following specific steps:
step one, the overwater self-driven photographing robot is placed in a water area needing to be observed, a user carries out wireless communication with the wireless communication module 4-1 through an upper computer, and the steering motor 3-4, the needle valve control motor 2-1, the camera system and the sail 1-1 are controlled.
And step two, controlling the windward angle of the sail 1-1 according to the wind direction, and adjusting to the most appropriate angle to enable the overwater self-driven photographing robot to reach a target observation water area.
And step three, after the target water area is reached, fine adjustment of the position and the angle of the overwater self-driven photographing robot is achieved by controlling the flow rate control module and the power module. Specifically, a needle valve control motor 2-1 controls a throttle valve rod to open a valve 2-2, isopropyl alcohol is dripped into the water surface behind the overwater self-driven photographing robot, the surface tension of the part of water is changed, gradient is formed between the part of water and the surrounding water, and the surrounding water gushes to the direction of reducing the gradient, so that the overwater self-driven photographing robot is pushed to move forwards; the steering motor 3-4 controls the deflection angle of the dropper 3-1, so that the advancing direction of the underwater self-driven photographing robot is adjusted.
And step four, the camera 5-1 starts to shoot the surrounding organisms.
Claims (10)
1. An underwater self-driven photographing robot comprises a flow rate control module (2), a power module (3), a body main body (4), a camera system (5) and two foot plates (1-7); the method is characterized in that: two mutually independent foot plates (1-7) are arranged side by side and are connected together through an upper machine body main body (4); the machine body main body (4) comprises a foot plate connecting seat (4-4), a spring shock absorber (4-5), a connecting rod (4-6) and a trunk body (4-7); the trunk body (4-7) is connected with the two foot plates (1-7) through the foot plate connecting seats (4-4) and the connecting rods (4-6); a spring shock absorber (4-5) is arranged between the foot plate connecting seat (4-4) and the connecting rod (4-6); the power module comprises a dropper (3-1); the dropper (3-1) is arranged at the tail end of the machine body main body (4) and can swing left and right under the driving of a power element; the outer end of the dropper (3-1) is provided with a downward dropper; the input end of the dropper (3-1) is connected with the output port of the organic reagent storage tank fixed on the trunk body (4-7) through the flow rate control module (2); the input end of the dropper (3-1) is lower than the output end of the organic reagent storage tank; organic reagents are stored in the organic reagent storage tank; the camera system (5) is arranged at the head end of the machine body main body (4).
2. The underwater self-propelled photographing robot of claim 1, wherein: also comprises a wind power system (1); the wind power system comprises a sail (1-1), a first connecting rod (1-2), a second connecting rod (1-11), a transverse guide rod (1-10), a first sliding block (1-9), a second sliding block (1-3), a crank (1-4), a crank motor (1-5), a guide rail (1-6), a sliding mast and a fixed mast (1-8); one of the foot plates (1-7) is provided with a chute; a fixed mast (1-8) which is vertically arranged is fixed at one end of the chute; the sliding mast which is vertically arranged is connected to the sliding chute in a sliding manner and can be locked at different positions;
the inner ends of the two first connecting rods (1-2) are respectively and rotatably connected with two different positions of the sliding mast; one ends of the two second connecting rods (1-11) are respectively and rotatably connected with the outer ends of the two first connecting rods (1-2); the other ends of the two second connecting rods (1-11) are respectively and rotatably connected with the two ends of the guide rails (1-6); a horizontal guide rod (1-10) arranged horizontally is fixed on the sliding mast; a first sliding block (1-9) is fixed on the guide rail (1-6); the first sliding block (1-9) is connected with the transverse guide rod (1-10) in a sliding manner along the horizontal direction; the axial direction of the transverse guide rods (1-10) is vertical to the sliding mast; the second sliding block (1-3) is connected on the guide rail (1-6) in a sliding manner; the inner end of the crank (1-4) is rotationally connected with the middle part of the sliding mast; the outer end of the crank (1-4) is rotationally connected with the second slide block (1-3); two side edges of the sail (1-1) are respectively fixed with the guide rails (1-6) and the fixed masts (1-8); the crank motor (1-5) is fixed on the sliding mast, and the output shaft is fixed with the inner end of the crank (1-4).
3. The underwater self-propelled photographing robot of claim 1, wherein: the main body (4) is provided with a wireless communication module (4-1) and a battery (4-2).
4. The underwater self-propelled photographing robot of claim 1, wherein: the number of the connecting rods (4-6) is four; two of the four connecting rods (4-6) are used as a group; two groups of connecting rods (4-6) are respectively arranged at two sides of the main body (4-7); the outer ends of the connecting rods (4-6) are arranged downwards and are connected with a foot plate connecting seat (4-4) through spring shock absorbers (4-5); the top surface of the foot plate (1-7) is provided with two sections of arc chutes; the two sections of arc chutes are on the same circle; the diameter of the arc chute is equal to the center distance of two foot plate connecting seats (4-4) positioned on the same foot plate (1-7); the bottom of the foot plate connecting seat (4-4) is provided with a guide convex block (7) matched with the arc chute; the guide convex blocks (7) on the bottom surfaces of the two foot plate connecting seats (4-4) on the same foot plate (1-7) are respectively connected in the arc chutes on the corresponding foot plates (1-7) in a sliding manner; a return spring (6) is connected between the guide convex block (7) and the end part of the corresponding arc chute; the return spring (6) enables the guide lug (7) to be in a middle position in an initial state; the guide projection (7) is made of soft magnetic material; electromagnets (8) are fixed at both ends of the arc chute; when the two electromagnets (8) are respectively electrified, the guide convex blocks (7) can be attracted to the corresponding end parts of the arc sliding grooves, and the relative positions of the foot plates (1-7) and the foot plate connecting seats (4-4) are adjusted.
5. The underwater self-propelled photographing robot of claim 1, wherein: the power module also comprises a connecting rod (3-2), a steering connecting piece (3-3) and a steering motor (3-4); the two connecting rods (3-2) and the two steering connecting pieces (3-3) are sequentially and alternately connected in a rotating manner to form a parallelogram; the two steering connecting pieces (3-3) are respectively arranged at the two ends of the bottom of the main body (4-7); the middle parts of the two steering connecting pieces (3-3) and the two ends of the bottom of the main body (4-7) respectively form a revolute pair with a common axis arranged vertically; the steering motor (3-4) is fixed at the head end of the bottom of the main body (4-7), and the output shaft is fixed with the middle part of the steering connecting piece (3-3) positioned at the head end; one end of a dropper (3-1) horizontally arranged on the main body is fixed with the middle part of the steering connecting piece (3-3) positioned at the tail end, and the other end is provided with a dropper arranged downwards.
6. The underwater self-propelled photographing robot of claim 1, wherein: the flow rate control module (2) comprises a throttle valve rod (2-2) and a valve body; a reagent flow passage is arranged in the valve body; the bottom end of the throttle valve rod (2-2) extends into the reagent flow channel from top to bottom; the flow area of the reagent flow channel can be changed by adjusting the position of the throttle valve rod (2-2); the throttle valve rod (2-2) slides under the driving of the power element; two ends of a reagent flow passage in the valve body are respectively connected with an organic reagent storage tank and a dropper (3-1).
7. The underwater self-propelled photographing robot of claim 6, wherein: the flow rate control module (2) further comprises a needle valve control motor (2-1), a connecting rod (2-3) and a rocker (2-4); the needle valve control motor (2-1) is fixed on the trunk body (4-7); an output shaft of the needle valve control motor (2-1) is fixed with the inner end of the rocker (2-4); one end of the connecting rod (2-3) is rotatably connected with the outer end of the rocker (2-4); the other end of the connecting rod (2-3) and the top end of the throttle valve rod (2-2) form a spherical pair.
8. The underwater self-propelled photographing robot of claim 1, wherein: the camera system comprises a camera (5-1), an X-axis motor mounting table (5-2), a Z-axis motor mounting table (5-3), an X-axis motor (5-4) and a Z-axis motor (5-5); the camera (5-1) is arranged on the X-axis motor mounting table (5-2); the X-axis motor (5-4) drives the camera (5-1) to rotate around a horizontal axis; the X-axis motor mounting table (5-2) is mounted on the Z-axis motor mounting table (5-3); the Z-axis motor (5-5) is arranged on the Z-axis motor mounting table (5-3) and used for driving the X-axis motor mounting table (5-2) to rotate around a vertical axis; the Z-axis motor mounting table (5-3) is fixed at the head end of the main body (4-7).
9. The underwater self-propelled photographing robot of claim 1, wherein: the organic reagent adopts isopropanol.
10. The use method of the underwater self-propelled photographing robot as claimed in claim 1, wherein: placing the overwater self-driven photographing robot in a target water area, wherein two foot plates float on the water surface; the water self-driven photography robot generates propulsion by using a power module to drip an organic solvent at the rear; after the self-driven photographing robot on the water is close to a target object, a camera system is used for shooting.
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