CN206615369U - A kind of special complicated underwater environment of criminal investigation searches fishing device - Google Patents
A kind of special complicated underwater environment of criminal investigation searches fishing device Download PDFInfo
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- CN206615369U CN206615369U CN201720311907.9U CN201720311907U CN206615369U CN 206615369 U CN206615369 U CN 206615369U CN 201720311907 U CN201720311907 U CN 201720311907U CN 206615369 U CN206615369 U CN 206615369U
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Abstract
The utility model is related to a kind of special complicated underwater environment of criminal investigation and searches fishing device, belongs to remote-controlled vehicle technical field.The material evidence being generally discarded mostly is submerged in the bottom in pond river, and typically all contains substantial amounts of mud suspension close to water-bed waters, and water turbidity, visibility is substantially zeroed, causes the basic cisco unity malfunction of optical imaging apparatus of underwater robot.Fishing robot is positioned the utility model proposes a kind of search under water with green turtle shape shell, including green turtle shape shell, belly transparent observing window, reflective focus mask, high-brightness LED light bar etc., when diving beneath the water close to the bottom, the flat belly of green turtle type shell of the robot can squeeze the dirty water body for opening the bottom, camera installed in its belly is shot through watch window and the subject image at the bottom is transmitted, material evidence function of searching under water is realized；Then, then by salvaging mechanical hand installed in the remote control of robot afterbody it can realize that material evidence salvages function under water.
Description
Technical field
The utility model belongs to remote-controlled vehicle technical field, specifically, is related to a kind of special complicated ring under water of criminal investigation
Search fishing device in border.
Background technology
In order to conceal crime fact, strike is escaped, crucial material evidence is usually discarded in pond by suspect after crime
In the pool, river or reservoir, this phenomenon has frequently-occurring, generality.Material evidence is salvaged in water, seems big in most cases
Pin is dragged in the sea, and difficulty is big, and efficiency is low, expends substantial amounts of manpower and materials.
In recent years, constantly have and underwater robot technology be applied to the search of material evidence under water and the exploration and effort salvaged,
But because the material evidence being dropped in actual environment is mostly submerged in the bottom in pond river, and close to water-bed waters, due to containing
There are substantial amounts of mud suspension or algae, water turbidity, visibility is substantially zeroed, causes the optical imaging apparatus of underwater robot
Imaging effect extreme difference, can not realize its due search positioning function at all.Therefore, underwater robot technology is applied under water
The key of material evidence search seeks to that the interference of turbid water body can be overcome, and optical imaging apparatus is normally played a role.
The content of the invention
It is not enough present in background technology in order to overcome, the utility model proposes one kind dedicated for material evidence search under water
With the robot of salvaging, the effective tool that a kind of brand-new search of material evidence under water is salvaged is provided for a line policeman.
The utility model is achieved by the following technical solution:
The special complicated underwater environment of described criminal investigation, which searches fishing device, includes shell 1, screw propeller 3, observation window
5th, illuminator is shot, the bottom of described shell 1 is provided with transparent windows 5, and transparent windows 5 are connected formation with shell 1
Shooting illuminator is provided with one airtight cavity, airtight cavity, illuminator is shot and is connected with computer system, it is described
Screw propeller 3 is arranged on the both sides of shell 1, and the afterbody of shell 1 is provided with salvaging mechanical hand 6.
Further, described screw propeller 3, which has in four, each screw propeller 3, is provided with motor control
Module and motor, motor are connected with motor control module, and motor control module is connected with computer system, wherein two
Individual screw propeller 3 is vertically arranged, and is separately fixed at the both sides of shell 1；Two other screw propeller 3 is horizontally disposed with,
It is separately fixed at the both sides of shell 1.
Further, described motor is the direct current generator using PWM speed governing.
Further, described shooting illuminator includes camera I 8, conical reflective focus mask 9 and LED spotlight 10,
The reflective focus mask 9 of cone is arranged on the inner top of shell 1, and camera I 8 is arranged in conical reflective focus mask 9, LED
Shot-light 10 is arranged on the inwall of conical reflective focus mask 9.
Further, described LED spotlight 10 is ring-type LED spotlight band.
Further, described shooting illuminator also includes the forward sight translucent cover 2 for being arranged on the front end of shell 1, installs
Camera II 7 in forward sight translucent cover 2, and installed in the camera III 4 of the afterbody of shell 1.
Further, described shell 1 is in green turtle shape.
Further, described salvaging mechanical hand 6 uses remote control.
The beneficial effects of the utility model：
When the utility model is dived beneath the water close to the bottom, its shell can squeeze in the flat belly of green turtle type opens the bottom
Dirty water body, the camera installed in its belly is shot through watch window and transmit the subject image at the bottom, realization
Water-bed material evidence searches positioning function.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is polycrystalline substance schematic diagram of the present utility model；
Fig. 3 is elevational cross-sectional view of the present utility model.
In figure, 1- shells, 2- forward sights translucent cover, 3- screw propellers, 4- cameras III, 5- observation windows, 6- salvage machine
Device hand, 7- cameras II, 8- cameras I, the reflective focus mask of 9- cones, 10-LED shot-lights.
Embodiment
In order that the purpose of this utility model, technical scheme and beneficial effect are clearer, below in conjunction with accompanying drawing, to this
The preferred embodiment of utility model is described in detail, to facilitate the technical staff to understand.
As Figure 1-3, the special complicated underwater environment of described criminal investigation is searched fishing device and pushed away including shell 1, propeller
Enter device 3, observation window 5, shoot illuminator.
The bottom of described shell 1 is provided with transparent windows 5, and it is closed that transparent windows 5 are connected formation one with shell 1
Shooting illuminator is provided with cavity, airtight cavity, illuminator is shot and is connected with computer system, and shell 1 is in green turtle
Type, described shooting illuminator includes camera I 8, conical reflective focus mask 9 and LED spotlight 10, and cone is reflective to be focused on
Cover 9 is arranged on the inner top of shell 1, and camera I 8 is arranged in conical reflective focus mask 9, and LED spotlight 10 is arranged on circle
On the inwall of the reflective focus mask 9 of taper.When underwater environment, which searches fishing device, dives beneath the water close to the bottom, its green turtle type shell
Flat belly can squeeze open the bottom dirty water body so that installed in its belly camera I 8 can through it is transparent sight
Examine window 5 and shoot and transmit the subject image at the bottom and be delivered to computer system, realize material evidence function of searching under water.
Because described LED spotlight 10 is ring-type LED spotlight band, the light that LED spotlight 10 is sent can be made to be seen through transparent
Examine 5 pairs of bottoms of window to be illuminated, be easy to the search of water-bed material evidence to position.
Described screw propeller 3 is arranged on the both sides of shell 1, and described screw propeller 3 has four, each spiral shell
Motor control module and motor are provided with rotation oar propeller 3, described motor is the direct current using PWM speed governing
Machine, motor is connected with motor control module, and motor control module is connected with computer system, and two of which propeller is promoted
Device 3 is vertically arranged, and is separately fixed at the both sides of shell 1；Two other screw propeller 3 is horizontally disposed with, and is separately fixed at outer
The both sides of shell 1.When underwater environment searches fishing device work, the host computer real-time measure and control device in computer system is sent
Instruction and convert it into corresponding parameter slave computer issued by serial communication, slave computer receives the control that host computer is sent
After information processed, thrust size and direction by instruction four screw propellers 3 of control, two propellers 3 for being vertically arranged
Underwater environment is controlled to search the rising and dive campaign of fishing device, two horizontally disposed screw propellers 3 are controlled under water
Environment searches that the straight ahead of fishing device, straight line are retreated, turned left, turning right, left front is advanced, right front is advanced, left back
The actions such as side is retreated, right back retrogressing.
The afterbody of shell 1 is provided with salvaging mechanical hand 6, and described salvaging mechanical hand 6 is used wirelessly to be connected with computer system
The remote control connect；When underwater environment searches fishing device close to material evidence, pass through the remote control with computer system wireless connection
Remote control salvages mechanical hand 6 and realizes that material evidence is salvaged.
Described shooting illuminator also includes the forward sight translucent cover 2 for being arranged on the front end of shell 1, transparent installed in forward sight
Camera II 7 in cover 2, and installed in the camera III 4 of the afterbody of shell 1；2 camera II in forward sight translucent cover
7 are mainly used in undertaking underwater observation when underwater environment search fishing device moves ahead, while it is relative to observe volume under water
Larger material evidence；Coordinate installed in the camera III 4 of the afterbody of shell 1 and salvage the completion material evidence salvaging task of mechanical hand 6.
The course of work of the present utility model:
Four screw propellers 3 of computer system control control underwater environments search the rising of fishing devices life, dive,
Straight ahead, straight line are retreated, turned left, turning right, left front is advanced, right front is advanced, left back is retreated, right back is retreated etc.
Action.When underwater environment, which searches fishing device, dives beneath the water close to the bottom, the flat belly of its green turtle type shell 1 can squeeze
Open the dirty water body at the bottom so that can be shot installed in the camera I 8 of its belly through transparent windows 5 and transmit water
The subject image at bottom is delivered to computer system, if staff observes depositing in the subject image that camera I 8 is transmitted
In material evidence, underwater salvage mechanical hand 6 is controlled to realize that material evidence is salvaged by remote control.
When the utility model is dived beneath the water close to the bottom, its shell can squeeze in the flat belly of green turtle type opens the bottom
Dirty water body, the camera installed in its belly is shot through watch window and transmit the subject image at the bottom, realization
Water-bed material evidence searches positioning function.
Finally illustrate, preferred embodiment above is merely to illustrate the technical solution of the utility model and unrestricted, to the greatest extent
The utility model is described in detail by above preferred embodiment for pipe, but those skilled in the art should manage
Solution, can make various changes, without departing from the utility model claims institute to it in the form and details
Limit.
Claims (8)
1. a kind of special complicated underwater environment of criminal investigation searches fishing device, it is characterised in that：The special complexity of described criminal investigation is under water
Environment, which searches fishing device, includes shell（1）, screw propeller（3）, observation window（5）, shoot illuminator, described shell
（1）Bottom be provided with transparent windows（5）, transparent windows（5）With shell（1）Connection forms an airtight cavity, closed
Shooting illuminator is provided with cavity, illuminator is shot and is connected with computer system, described screw propeller（3）If
Put in shell（1）Both sides, shell（1）Afterbody be provided with salvaging mechanical hand（6）.
2. the special complicated underwater environment of a kind of criminal investigation according to claim 1 searches fishing device, it is characterised in that：It is described
Screw propeller（3）There are four, each screw propeller（3）Motor control module and motor are inside provided with, is driven
Dynamic motor is connected with motor control module, and motor control module is connected with computer system, two of which screw propeller（3）
It is vertically arranged, is separately fixed at shell（1）Both sides；Two other screw propeller（3）It is horizontally disposed, it is separately fixed at outer
Shell（1）Both sides.
3. the special complicated underwater environment of a kind of criminal investigation according to claim 2 searches fishing device, it is characterised in that：It is described
Motor be using PWM speed governing direct current generator.
4. the special complicated underwater environment of a kind of criminal investigation according to claim 1 searches fishing device, it is characterised in that：It is described
Shooting illuminator include camera I（8）, conical reflective focus mask（9）And LED spotlight（10）, cone is reflective to be focused on
Cover（9）Installed in shell（1）Inner top on, camera I（8）Installed in conical reflective focus mask（9）It is interior, LED spotlight
（10）Installed in conical reflective focus mask（9）Inwall on.
5. the special complicated underwater environment of a kind of criminal investigation according to claim 4 searches fishing device, it is characterised in that：It is described
LED spotlight（10）For ring-type LED spotlight band.
6. the special complicated underwater environment of a kind of criminal investigation according to claim 1 or 4 searches fishing device, it is characterised in that：
Described shooting illuminator also includes being arranged on shell（1）Front end forward sight translucent cover（2）, installed in forward sight translucent cover
（2）Interior camera II（7）, and installed in shell（1）The camera III of afterbody（4）.
7. the special complicated underwater environment of a kind of criminal investigation according to claim 1 searches fishing device, it is characterised in that：It is described
Shell（1）In green turtle shape.
8. the special complicated underwater environment of a kind of criminal investigation according to claim 1 searches fishing device, it is characterised in that：It is described
Salvaging mechanical hand（6）Using remote control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720311907.9U CN206615369U (en) | 2017-03-28 | 2017-03-28 | A kind of special complicated underwater environment of criminal investigation searches fishing device |
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| CN201720311907.9U CN206615369U (en) | 2017-03-28 | 2017-03-28 | A kind of special complicated underwater environment of criminal investigation searches fishing device |
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| CN206615369U true CN206615369U (en) | 2017-11-07 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016586A (en) * | 2018-01-04 | 2018-05-11 | 西南石油大学 | A kind of small-sized hanging underwater robot platform device |
| CN108248776A (en) * | 2018-01-17 | 2018-07-06 | 苏州亮磊知识产权运营有限公司 | A kind of intelligent marine salvage equipment and its method of work for clearing up water-bed discarded metal |
| CN108284926A (en) * | 2018-01-17 | 2018-07-17 | 苏州亮磊知识产权运营有限公司 | A kind of water-bed pendant object marine salvage equipment and its working method of sediment prevention |
| CN109278961A (en) * | 2018-09-27 | 2019-01-29 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of underwater robot base apparatus |
| CN110636199A (en) * | 2019-10-22 | 2019-12-31 | 中国船舶重工集团公司七五0试验场 | Muddy water camera with easily-replaceable window film |
| CN111669498A (en) * | 2020-06-12 | 2020-09-15 | 深圳市人工智能与机器人研究院 | Image acquisition method and underwater robot |
| WO2020244400A1 (en) * | 2019-06-05 | 2020-12-10 | 清华四川能源互联网研究院 | Photographing apparatus and inspection device |
| RU206387U1 (en) * | 2021-05-31 | 2021-09-08 | Автономная некоммерческая организация высшего образования «Университет Иннополис» | Remotely controlled unmanned underwater vehicle |
| WO2022255904A1 (en) * | 2021-05-31 | 2022-12-08 | Автономная некоммерческая организация высшего образования "Университет Иннополис" | Remotely operated unmanned underwater vehicle |
| RU222738U1 (en) * | 2022-03-29 | 2024-01-17 | ООО "Подводная робототехника" | Small-sized remote-controlled uninhabited underwater vehicle |
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- 2017-03-28 CN CN201720311907.9U patent/CN206615369U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016586A (en) * | 2018-01-04 | 2018-05-11 | 西南石油大学 | A kind of small-sized hanging underwater robot platform device |
| CN108248776A (en) * | 2018-01-17 | 2018-07-06 | 苏州亮磊知识产权运营有限公司 | A kind of intelligent marine salvage equipment and its method of work for clearing up water-bed discarded metal |
| CN108284926A (en) * | 2018-01-17 | 2018-07-17 | 苏州亮磊知识产权运营有限公司 | A kind of water-bed pendant object marine salvage equipment and its working method of sediment prevention |
| CN109278961A (en) * | 2018-09-27 | 2019-01-29 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of underwater robot base apparatus |
| WO2020244400A1 (en) * | 2019-06-05 | 2020-12-10 | 清华四川能源互联网研究院 | Photographing apparatus and inspection device |
| US20220150387A1 (en) * | 2019-06-05 | 2022-05-12 | Sichuan Energy Internet Research Institute, Tsinghua University | Photographing Apparatus and Inspection Device |
| US11985399B2 (en) * | 2019-06-05 | 2024-05-14 | Sichuan Energy Internet Research Institute, Tsinghua University | Photographing apparatus and inspection device |
| CN110636199A (en) * | 2019-10-22 | 2019-12-31 | 中国船舶重工集团公司七五0试验场 | Muddy water camera with easily-replaceable window film |
| CN111669498A (en) * | 2020-06-12 | 2020-09-15 | 深圳市人工智能与机器人研究院 | Image acquisition method and underwater robot |
| RU206387U1 (en) * | 2021-05-31 | 2021-09-08 | Автономная некоммерческая организация высшего образования «Университет Иннополис» | Remotely controlled unmanned underwater vehicle |
| WO2022255904A1 (en) * | 2021-05-31 | 2022-12-08 | Автономная некоммерческая организация высшего образования "Университет Иннополис" | Remotely operated unmanned underwater vehicle |
| RU222738U1 (en) * | 2022-03-29 | 2024-01-17 | ООО "Подводная робототехника" | Small-sized remote-controlled uninhabited underwater vehicle |
| RU2821406C1 (en) * | 2023-12-06 | 2024-06-24 | Российская Федерация, от имени которой выступает ФОНД ПЕРСПЕКТИВНЫХ ИССЛЕДОВАНИЙ | Method of photo/video filming of bottom objects at maximum depths with minimum distortion and device for its implementation |
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Effective date of registration: 20230615 Address after: 215163 east half of the second floor and East lobby of the first floor of plant 2, No. 187 Putuoshan Road, high tech Zone, Suzhou, Jiangsu Province Patentee after: Kamosona intelligent technology R & D (Jiangsu) Co.,Ltd. Address before: 650041 6a, building a11-b1, guangfucheng, No. 399, Rixin Middle Road, Xishan District, Kunming City, Yunnan Province Patentee before: KUNMING SNLAB SCIENCE-TECH Co.,Ltd. |
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| TR01 | Transfer of patent right |